Title:
CABLE ROBOT CALIBRATION METHOD
Document Type and Number:
WIPO Patent Application WO/2015/170361
Kind Code:
A1
Abstract:
[Problem] To provide a cable robot calibration method that enables calibration using functions already provided to the cable robot. [Solution] A calibration method wherein: the lengths of cables from second pulleys to a mobile platform when the mobile platform is in multiple different positions are calculated on the basis of estimated cable lengths and encoder detection results; on the basis of the calculated cable lengths, the position of the mobile platform with respect to an origin and the slope with respect to a standard coordinate system at each of multiple positions of the mobile platform, the positions of first pulleys with respect to the origin, and the lengths of the cables from the second pulleys to the mobile platform when the mobile platform is at a standard position are specified; and in step (S1) after the completion of step (S7), pulley positions are estimated on the basis of the specified pulley positions and cable lengths are estimated on the basis of the specified cable lengths.
Inventors:
KOSUGE KAZUHIRO (JP)
PETTERSSON ARON (SE)
PETTERSSON ARON (SE)
Application Number:
PCT/JP2014/002420
Publication Date:
November 12, 2015
Filing Date:
May 07, 2014
Export Citation:
Assignee:
NOMURA UNISON CO LTD (JP)
UNIV TOHOKU (JP)
UNIV TOHOKU (JP)
International Classes:
B25J11/00; G05D1/08; G05D1/10
Foreign References:
| US20130164107A1 | 2013-06-27 | |||
| JPH1177577A | 1999-03-23 | |||
| JP2005165851A | 2005-06-23 | |||
| JPH09500337A | 1997-01-14 | |||
| JP2013089844A | 2013-05-13 |
Other References:
TOMOAKI ARAKI ET AL.: "Hybrid Parallel Wire Kudo Robot no Kaihatsu", THE ROBOTICS AND MECHATRONICS CONFERENCE 2013 KOEN RONBUNSHU, 21 May 2013 (2013-05-21)
SADAO KAWAMURA ET AL.: "A Motion Control Scheme in Wire Length Coordinates for Parallel Wire Drive Systems", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 16, no. 4, 15 May 1998 (1998-05-15), pages 546 - 552, XP055236044
HITOSHI KINO ET AL.: "A Motion Control Scheme in Task Oriented Coordinates and its Robustness for Parallal Wire Driven Systems", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 18, no. 3, 2000, pages 411 - 418, XP055236086
SADAO KAWAMURA ET AL.: "A Motion Control Scheme in Wire Length Coordinates for Parallel Wire Drive Systems", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 16, no. 4, 15 May 1998 (1998-05-15), pages 546 - 552, XP055236044
HITOSHI KINO ET AL.: "A Motion Control Scheme in Task Oriented Coordinates and its Robustness for Parallal Wire Driven Systems", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 18, no. 3, 2000, pages 411 - 418, XP055236086
Attorney, Agent or Firm:
KODAIRA, Shin (JP)
Kodaira 晋 (JP)
Kodaira 晋 (JP)
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