论文标题
电缆驱动的平行机器人的自动校准子系统
Autocalibration Subsystem for Cable-Driven Parallel Robots
论文作者
论文摘要
对于电缆驱动的并行机器人，电缆长度是我们控制的唯一元素。对此参数的更好了解将改善机器人性能。我们提出了一个新的电缆长度自动校准子系统。它由仪器电缆，电感传感器和用于数字数据处理的控制器组成。电缆将通过金属痕迹来仪器，连续标记之间的距离变化。电感传感器将允许检测金属标记；它将垂直放置在支撑上，并且连续传感器之间的距离变化。每个检测将对应于电缆长度。通过分析特定时刻检测到的电缆长度的连续，我们可以确定我们在电缆上的位置，然后推断出长度。闭环自动校准可以允许连续的电缆长度调节。
For Cable-Driven Parallel Robots, the cable length is the only element we control. Better knowledge of this parameter will improve robot performances. We propose a new cable length autocalibration subsystem. It consists of an instrumented cable, inductive sensors and a controller for digital data processing. Cable would be instrumented by metallic marks, with variation in distance between successive marks. Inductive sensors will allow the detection of metallic marks; it will be placed vertically on the support, with variation in distance between successive sensors. Each detection will correspond to a cable length. By analyzing the succession of cable lengths detected at particular moments, we can identify our position on the cable, then deduce its length. A closed-loop autocalibration may allow continuous cable length adjustment.
