Tampere University of Technology

TUTCRIS Research Portal

Forward kinematic analysis of a planar cable driven redundant parallel manipulator using force sensors

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages2295-2300
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Publication typeA4 Article in a conference publication
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 18 Oct 201022 Oct 2010

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period18/10/1022/10/10

Abstract

Newly developed cable driven redundant parallel manipulators (CDRPM) have numerous advantages compared to that of the conventional parallel mechanisms. However, there exist some challenging issues in over-constrained mechanisms like CDRPMs. In contrast to serial manipulators, complexity of parallel manipulator forward kinematics (FK) is one of the main issues being under study in the control of such manipulators. Moreover, using extra sensory data is a common approach in the FK solution of rigid-linked parallel manipulators, which is considered by fewer researchers for CDRPMs. In this paper, tension force sensors of the cables are used as an extra sensor to simplify analytical solution of the FK for a planar CDRPM. To find a suitable solution, geometrical and physical characteristics of the robot are analyzed. It is shown that the proposed method provides the required accuracy and significantly improves the process time compared to the conventional methods.