Cable-Driven Parallel Robot Accuracy Improving Using Visual Servoing

被引：0

作者：

Ennaiem, Ferdaws ^{[1
,2
]}

Chaker, Abdelbadia ^{[2
]}

Sandoval, Juan ^{[1
]}

Bennour, Sami ^{[2
]}

Mlika, Abdelfattah ^{[2
]}

Romdhane, Lotfi ^{[2
,3
]}

Zeghloul, Said ^{[1
]}

Laribi, Med Amine ^{[1
]}

机构：

[1] Univ Poitiers, Dept GMSC, Pprime Inst, CNRS,ENSMA,UPR 3346, Poitiers, France

[2] Univ Sousse, Natl Engn Sch Sousse, Mech Lab Sousse LMS, Sousse 4000, Tunisia

[3] Amer Univ Sharjah, POB 26666, Sharjah, U Arab Emirates

来源：

ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS, RAAD 2022 | 2022年 / 120卷

关键词：

Visual based control; Rehabilitation; Cable-driven parallel robot (CDPR); Accuracy; Starting pose;

D O I：

10.1007/978-3-031-04870-8_12

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Avisual based controlmethod based on coupling a camera with a cable-driven parallel robot (CDPR) is proposed in this paper. This work is motivated by the need of overcoming the robot uncertainties resulting from cable vibrations or inaccurate initial configurations. The poses taken by the end-effector are recorded in real time and used as feedback for the control loop to enhance the robot accuracy. Experimental tests were conducted on a planar CDPR dedicated to rehabilitation and allowing to assist the patient's upper limb along a preselected path. The reference path of the prescribed exercise was recorded, for a healthy volunteer, using a motion capture system. The implementation results show a remarkable increase in the robot accuracy. In addition, thanks to the proposed correction, the initial pose of the end-effector has no longer an impact on the robot behavior. The prescribed task can be performed independently of the starting pose.

引用

页码：97 / 105

页数：9