Measurement of End-effector Pose Errors and the Cable Profile of Cable-Driven Robot using Monocular Camera
Abstract Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker...
Ausführliche Beschreibung
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| Autor*in: |
Boby, Riby Abraham [verfasserIn] |
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| Format: |
Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2021 |
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| Schlagwörter: |
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| Anmerkung: |
© The Author(s), under exclusive licence to Springer Nature B.V. 2021 |
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| Übergeordnetes Werk: |
Enthalten in: Journal of intelligent & robotic systems - Springer Netherlands, 1988, 103(2021), 2 vom: 16. Sept. |
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| Übergeordnetes Werk: |
volume:103 ; year:2021 ; number:2 ; day:16 ; month:09 |
| Links: |
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| DOI / URN: |
10.1007/s10846-021-01486-z |
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OLC2077229241 |
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| 520 | |a Abstract Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker. Least value of about 18 mm was observed at the middle of the workspace and it agreed with the measurement from laser tracker. Using the proposed method it was also possible to measure orientation repeatability considering the end-effector coordinate system as the reference, which is an advantage over using a laser tracker. Since the robot workspace is very large and there are restrictions on feasible measurement volume while using a camera, a method to determine suitable locations of the camera to enable measurement in all of the workspace is also proposed. Results of this analysis show that the camera may be positioned at four feasible regions during measurement over the whole workspace. Finally, a method for measurement of cable profile is also proposed. The position and slope of the cable at two locations were measured using a camera. This was utilized to fit a catenary model such that profile of the cable between these points can be determined. Experiments conducted to determine the cable profile in different regions of workspace showed that there is comparatively greater sagging at the periphery of the workspace which explains the higher positioning errors in the same region. | ||
| 650 | 4 | |a Robot vision systems | |
| 650 | 4 | |a Cable-driven robot | |
| 650 | 4 | |a Cable modeling | |
| 650 | 4 | |a Performance measurement | |
| 650 | 4 | |a Repeatability | |
| 650 | 4 | |a Accuracy | |
| 700 | 1 | |a Maloletov, Alexander |4 aut | |
| 700 | 1 | |a Klimchik, Alexandr |4 aut | |
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10.1007/s10846-021-01486-z doi (DE-627)OLC2077229241 (DE-He213)s10846-021-01486-z-p DE-627 ger DE-627 rakwb eng 004 VZ Boby, Riby Abraham verfasserin (orcid)0000-0002-1563-5717 aut Measurement of End-effector Pose Errors and the Cable Profile of Cable-Driven Robot using Monocular Camera 2021 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2021 Abstract Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker. Least value of about 18 mm was observed at the middle of the workspace and it agreed with the measurement from laser tracker. Using the proposed method it was also possible to measure orientation repeatability considering the end-effector coordinate system as the reference, which is an advantage over using a laser tracker. Since the robot workspace is very large and there are restrictions on feasible measurement volume while using a camera, a method to determine suitable locations of the camera to enable measurement in all of the workspace is also proposed. Results of this analysis show that the camera may be positioned at four feasible regions during measurement over the whole workspace. Finally, a method for measurement of cable profile is also proposed. The position and slope of the cable at two locations were measured using a camera. This was utilized to fit a catenary model such that profile of the cable between these points can be determined. Experiments conducted to determine the cable profile in different regions of workspace showed that there is comparatively greater sagging at the periphery of the workspace which explains the higher positioning errors in the same region. Robot vision systems Cable-driven robot Cable modeling Performance measurement Repeatability Accuracy Maloletov, Alexander aut Klimchik, Alexandr aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 103(2021), 2 vom: 16. Sept. (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:103 year:2021 number:2 day:16 month:09 https://doi.org/10.1007/s10846-021-01486-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT AR 103 2021 2 16 09 |
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10.1007/s10846-021-01486-z doi (DE-627)OLC2077229241 (DE-He213)s10846-021-01486-z-p DE-627 ger DE-627 rakwb eng 004 VZ Boby, Riby Abraham verfasserin (orcid)0000-0002-1563-5717 aut Measurement of End-effector Pose Errors and the Cable Profile of Cable-Driven Robot using Monocular Camera 2021 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2021 Abstract Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker. Least value of about 18 mm was observed at the middle of the workspace and it agreed with the measurement from laser tracker. Using the proposed method it was also possible to measure orientation repeatability considering the end-effector coordinate system as the reference, which is an advantage over using a laser tracker. Since the robot workspace is very large and there are restrictions on feasible measurement volume while using a camera, a method to determine suitable locations of the camera to enable measurement in all of the workspace is also proposed. Results of this analysis show that the camera may be positioned at four feasible regions during measurement over the whole workspace. Finally, a method for measurement of cable profile is also proposed. The position and slope of the cable at two locations were measured using a camera. This was utilized to fit a catenary model such that profile of the cable between these points can be determined. Experiments conducted to determine the cable profile in different regions of workspace showed that there is comparatively greater sagging at the periphery of the workspace which explains the higher positioning errors in the same region. Robot vision systems Cable-driven robot Cable modeling Performance measurement Repeatability Accuracy Maloletov, Alexander aut Klimchik, Alexandr aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 103(2021), 2 vom: 16. Sept. (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:103 year:2021 number:2 day:16 month:09 https://doi.org/10.1007/s10846-021-01486-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT AR 103 2021 2 16 09 |
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10.1007/s10846-021-01486-z doi (DE-627)OLC2077229241 (DE-He213)s10846-021-01486-z-p DE-627 ger DE-627 rakwb eng 004 VZ Boby, Riby Abraham verfasserin (orcid)0000-0002-1563-5717 aut Measurement of End-effector Pose Errors and the Cable Profile of Cable-Driven Robot using Monocular Camera 2021 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2021 Abstract Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker. Least value of about 18 mm was observed at the middle of the workspace and it agreed with the measurement from laser tracker. Using the proposed method it was also possible to measure orientation repeatability considering the end-effector coordinate system as the reference, which is an advantage over using a laser tracker. Since the robot workspace is very large and there are restrictions on feasible measurement volume while using a camera, a method to determine suitable locations of the camera to enable measurement in all of the workspace is also proposed. Results of this analysis show that the camera may be positioned at four feasible regions during measurement over the whole workspace. Finally, a method for measurement of cable profile is also proposed. The position and slope of the cable at two locations were measured using a camera. This was utilized to fit a catenary model such that profile of the cable between these points can be determined. Experiments conducted to determine the cable profile in different regions of workspace showed that there is comparatively greater sagging at the periphery of the workspace which explains the higher positioning errors in the same region. Robot vision systems Cable-driven robot Cable modeling Performance measurement Repeatability Accuracy Maloletov, Alexander aut Klimchik, Alexandr aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 103(2021), 2 vom: 16. Sept. (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:103 year:2021 number:2 day:16 month:09 https://doi.org/10.1007/s10846-021-01486-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT AR 103 2021 2 16 09 |
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10.1007/s10846-021-01486-z doi (DE-627)OLC2077229241 (DE-He213)s10846-021-01486-z-p DE-627 ger DE-627 rakwb eng 004 VZ Boby, Riby Abraham verfasserin (orcid)0000-0002-1563-5717 aut Measurement of End-effector Pose Errors and the Cable Profile of Cable-Driven Robot using Monocular Camera 2021 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2021 Abstract Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker. Least value of about 18 mm was observed at the middle of the workspace and it agreed with the measurement from laser tracker. Using the proposed method it was also possible to measure orientation repeatability considering the end-effector coordinate system as the reference, which is an advantage over using a laser tracker. Since the robot workspace is very large and there are restrictions on feasible measurement volume while using a camera, a method to determine suitable locations of the camera to enable measurement in all of the workspace is also proposed. Results of this analysis show that the camera may be positioned at four feasible regions during measurement over the whole workspace. Finally, a method for measurement of cable profile is also proposed. The position and slope of the cable at two locations were measured using a camera. This was utilized to fit a catenary model such that profile of the cable between these points can be determined. Experiments conducted to determine the cable profile in different regions of workspace showed that there is comparatively greater sagging at the periphery of the workspace which explains the higher positioning errors in the same region. Robot vision systems Cable-driven robot Cable modeling Performance measurement Repeatability Accuracy Maloletov, Alexander aut Klimchik, Alexandr aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 103(2021), 2 vom: 16. Sept. (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:103 year:2021 number:2 day:16 month:09 https://doi.org/10.1007/s10846-021-01486-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT AR 103 2021 2 16 09 |
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Measurement of End-effector Pose Errors and the Cable Profile of Cable-Driven Robot using Monocular Camera |
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Abstract Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker. Least value of about 18 mm was observed at the middle of the workspace and it agreed with the measurement from laser tracker. Using the proposed method it was also possible to measure orientation repeatability considering the end-effector coordinate system as the reference, which is an advantage over using a laser tracker. Since the robot workspace is very large and there are restrictions on feasible measurement volume while using a camera, a method to determine suitable locations of the camera to enable measurement in all of the workspace is also proposed. Results of this analysis show that the camera may be positioned at four feasible regions during measurement over the whole workspace. Finally, a method for measurement of cable profile is also proposed. The position and slope of the cable at two locations were measured using a camera. This was utilized to fit a catenary model such that profile of the cable between these points can be determined. Experiments conducted to determine the cable profile in different regions of workspace showed that there is comparatively greater sagging at the periphery of the workspace which explains the higher positioning errors in the same region. © The Author(s), under exclusive licence to Springer Nature B.V. 2021 |
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Abstract Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker. Least value of about 18 mm was observed at the middle of the workspace and it agreed with the measurement from laser tracker. Using the proposed method it was also possible to measure orientation repeatability considering the end-effector coordinate system as the reference, which is an advantage over using a laser tracker. Since the robot workspace is very large and there are restrictions on feasible measurement volume while using a camera, a method to determine suitable locations of the camera to enable measurement in all of the workspace is also proposed. Results of this analysis show that the camera may be positioned at four feasible regions during measurement over the whole workspace. Finally, a method for measurement of cable profile is also proposed. The position and slope of the cable at two locations were measured using a camera. This was utilized to fit a catenary model such that profile of the cable between these points can be determined. Experiments conducted to determine the cable profile in different regions of workspace showed that there is comparatively greater sagging at the periphery of the workspace which explains the higher positioning errors in the same region. © The Author(s), under exclusive licence to Springer Nature B.V. 2021 |
| abstract_unstemmed |
Abstract Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker. Least value of about 18 mm was observed at the middle of the workspace and it agreed with the measurement from laser tracker. Using the proposed method it was also possible to measure orientation repeatability considering the end-effector coordinate system as the reference, which is an advantage over using a laser tracker. Since the robot workspace is very large and there are restrictions on feasible measurement volume while using a camera, a method to determine suitable locations of the camera to enable measurement in all of the workspace is also proposed. Results of this analysis show that the camera may be positioned at four feasible regions during measurement over the whole workspace. Finally, a method for measurement of cable profile is also proposed. The position and slope of the cable at two locations were measured using a camera. This was utilized to fit a catenary model such that profile of the cable between these points can be determined. Experiments conducted to determine the cable profile in different regions of workspace showed that there is comparatively greater sagging at the periphery of the workspace which explains the higher positioning errors in the same region. © The Author(s), under exclusive licence to Springer Nature B.V. 2021 |
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Measurement of End-effector Pose Errors and the Cable Profile of Cable-Driven Robot using Monocular Camera |
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