Error Analysis in Solving the Inverse Problem of the Cable-driven Parallel Underactuated Robot Kinematics and Methods for their Elimination

Alexander V. Maloletov; Mikhail Y. Fadeev; Alexandr S. Klimchik

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Error Analysis in Solving the Inverse Problem of the Cable-driven Parallel Underactuated Robot Kinematics and Methods for their Elimination

机译：解决电缆驱动并联欠驱动机器人运动学反问题的误差分析及消除方法

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An analysis of the geometry of a cable-driven parallel robot is carried out. The influence of the design of the guide rollers and the winding mechanisms on the errors in the determination of the cable length control laws was investigated. Two variants of the arrangement of the spools in the winch mechanisms are considered. The analysis of the magnitudes of the resulting errors is given, the conclusion is made that it is necessary to take into consideration the design of the guide rollers and the winding mechanism with the vertical position of the spool, and also the permissibility to ignore the influence of the winding mechanism with the horizontal position of the spool.

机译：对电缆驱动的并联机器人的几何形状进行了分析。在确定电缆长度控制律时，研究了导辊和卷绕机构的设计对误差的影响。考虑了绞盘机构中的线轴布置的两种变型。给出了由此产生的误差的大小的分析，得出的结论是，有必要考虑导辊和绕线机构在卷轴垂直位置的设计，以及允许忽略其影响的可能性。绕线机构与线轴水平位置的关系。

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《IFAC PapersOnLine》 |2019年第13期|共6页
作者
Alexander V. Maloletov; Mikhail Y. Fadeev; Alexandr S. Klimchik;
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中图分类自动化技术、计算机技术;
关键词
cable-driven robotwire robotparallel robotinverse kinematicsgeometric analysis;

机译：电缆驱动机器人有线机器人并联机器人逆运动学几何分析;

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2. Inverse kinematics and workspace analysis of a cable-driven parallel robot with a spring spine [J] . Bingtuan Gao, Honggang Song, Jianguo Zhao, Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2014,第Null期

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4. Error Analysis in Solving the Inverse Problem of the Cable-driven Parallel Underactuated Robot Kinematics and Methods for their Elimination [C] . Alexander V. Maloletov, Mikhail Y. Fadeev, Alexandr S. Klimchik IFAC Conference on Manufacturing Modelling, Management, and Control . 2020

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7. Learning in robotics. Methods for Solving Inverse-kinematics Problems Using Neural Networks with Output Error Feedback. [O] . Eimei Oyama, Susumu Tachi 1995

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8. Error Analysis of Gaussian Elimination Method for Solving System of Linear Algebraic Equations [R] . Tsao, N. K. 1971

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Error Analysis in Solving the Inverse Problem of the Cable-driven Parallel Underactuated Robot Kinematics and Methods for their Elimination

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