Automatic Vision Based Calibration System for Planar Cable-Driven Parallel Robots
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Lecture Notes in Computer Science
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2019-09-22
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García-Vanegas A., Liberato-Tafur B., Forero M.G., Gonzalez-Rodríguez A., Castillo-García F. (2019) Automatic Vision Based Calibration System for Planar Cable-Driven Parallel Robots. In: Morales A., Fierrez J., Sánchez J., Ribeiro B. (eds) Pattern Recognition and Image Analysis. IbPRIA 2019. Lecture Notes in Computer Science, vol 11867. Springer, Cham. https://doi.org/10.1007/978-3-030-31332-6_52
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Techniques commonly employed to calibrate cable-driven parallel robots are manual or use sensors to measure the end-effector position indirectly. Therefore, in this paper, a cable-driven robot calibration system based on artificial vision techniques is introduced, which takes advantage of the available information, which allows calibrating the system directly from the observed video. The proposed method was validated by calibrating a planar cable-driven parallel robot prototype with 2 degrees of freedom. The measured positioning error was lower than 1 mm.
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978-3-030-31331-9