Sensory Feedback Performance Improvement on RoboCab: An Experimental Approach to Wire–Driven Parallel Manipulator

This paper introduces a method to improve the feedback accuracy using multisensor data fusion. Flexibility in cables and unmodeled rotation of feeder pulley in the spatial workspace as well as sagging in cables cause unreliability in encoder data. The purpose of this work is to provide an effective scheme to combine other sensors’ information from multiple sources to increase the precision and reliability of feedback data. In this study, sensor level fusion algorithm is used to integrate and fuse the camera and Inertial Measurement Unit (IMU) data. It is assumed the cables of robot with a negligible mass and insignificant contribution to the robot dynamics. The main application of this method is implementation of control methodologies where more accurate feedback data comes in an improved control performance
 

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زبان مقالهENGLISH
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Sensory Feedback Performance Improvement on RoboCab: An Experimental Approach to Wire–Driven Parallel Manipulator

  • تولید کننده: Mohammadreza Mousavi
  • شناسنامه: MC4-1028-paper3
  • موجودی: در انبار
  • تاریخ چاپ: 2016-12-05
  • نویسنده: Mohammadreza Mousavi, Masoud Ghanbari, Ali Nasr, S. Ali A. Moosavian
  • رایگان

برچسب ها: Cable Robot, Parallel Manipulator, Dynamic Analysis, Multisensor Data Fusion