NIMS-PL: A cable-driven robot with self-calibration capabilities

IEEE Transactions on Robotics

Volumn 25, Issue 5, 2009, Pages 1005-1015

  Borgstrom, Per Henrik ^a   Jordan, Brett L ^a   Borgstrom, Bengt J ^a   Stealey, Michael J ^a,b   Sukhatme, Gaurav S ^c   Batalin, Maxim A ^a   Kaiser, William J ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b Renaissance Computing Institute   (United States)

^c University of Southern California ^*  (United States)

Author keywords

Cable driven robots; Calibration and identification; Field robots; Parallel robots; Redundant robots

Indexed keywords

ACTUATION REDUNDANCY; AQUATIC ENVIRONMENTS; AUTONOMOUS OPERATIONS; CABLE TENSION; CABLE-DRIVEN ROBOTS; DETECTION ALGORITHM; FIELD ROBOTS; IN-PLANE; LEAST SQUARE; LINEAR PROGRAMMING SOLVERS; LONG TERM DRIFT; MONITORING ALGORITHMS; NUMBER OF ITERATIONS; OPTIMAL VALUES; PARALLEL ROBOTS; REAL SYSTEMS; REAL-TIME COMPUTATIONS; REDUNDANT ROBOTS; SELF CALIBRATION; SELF-CALIBRATION METHOD; SENSING APPLICATIONS; TENSION DISTRIBUTION; TWO-DEGREE-OF-FREEDOM;

CABLES; CALIBRATION; COMPUTATIONAL EFFICIENCY; JITTER; LINEARIZATION; MEASUREMENT THEORY; OPTIMIZATION; QUALITY ASSURANCE; REDUNDANCY; REDUNDANT MANIPULATORS;

ROBOTS;

EID: 70350212395     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2024792     Document Type: Article

References (36)

1. A. Riechel, P. Bosscher, H. Lipkin, and I. Ebert Uphoff, "Concept paper: Cable-driven robots for use in hazardous environments," in Proc. 10th Int. Top. Meeting Robot. Remote Syst. Hazardous Environ., Mar. 2004, pp. 310-316.
2. F. Takemura, M. Enomoto, T. Tanaka, K. Denou, Y. Kobayashi, and S. Tadokoro, "Development of the balloon-cable driven robot for information collection from sky and proposal of the search strategy at a major disaster," in Proc. IEEE/ASME Int. Conf. Adv. Intell. Mechatronics, Jul. 2005, pp. 658-663.
3. F. Takemura, K. Maeda, and S. Tadokoro, "Attitude stability of a cable driven balloon robot," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Oct. 2007, pp. 3504-3509.
4. SkyCam. (2007). [Online]. Available: Www.skycam.tv
5. CableCam. (2007). [Online]. Available: Www.cablecam.com
6. K. Usher, G. Winstanley, P. Corke, D. Stauffacher, and R. Carnie, "Air vehicle simulator: An application for a cable array robot," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 2005, pp. 2241-2246.
7. B. Jordan, M. Batalin, and W. Kaiser, "NIMS RD: A rapidly deployable cable based robot," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 2007, pp. 144-150.
8. T. Harmon, R. Ambrose, R. Gilbert, J. Fisher, M. Stealey, and W. Kaiser, "High-resolution river hydraulic and water quality characterization using rapidly deployable networked infomechanical systems (NIMS RD)," Environ. Eng. Sci., vol. 24, pp. 151-159, 2006.
9. A. Singh, M. A. Batalin, M. J. Stealey, V. Chen, Y. Lam, M. Hansen, T. Harmon, G. Sukhatme, and W. J. Kaiser, "Mobile robot sensing for environmental applications," in Field and Service Robotics. Berlin, Germany: Springer, Jun. 2007, pp. 125-135.
10. A. Singh, M. Batalin, V. Chen, M. Stealy, B. Jordan, J. Fisher, T. H. ad M. Hansen, and W. Kaiser, "Autonomous robotic sensing experiments at san Joaquin river," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 2007, pp. 4987-4993.
11. R. G. Roberts, T. Graham, and T. Lippit, "On the inverse kinematics, statics, and fault tolerance of cable-suspended robots," J. Robot. Syst., vol. 15, no. 10, pp. 581-597, 1998.
12. R. L. Williams and P. Gallina, "Planar cable-direct-driven robots, part i: Kinematics and statics," presented at the ASME Des. Tech. Conf., Pittsburgh, PA, Sep. 2001.
13. R. L. Williams, P. Gallina, and A. Rossi, "Planar cable-direct-driven robots, Part II: Dynamics and control," presented at the ASME Des. Tech. Conf., Pittsburgh, PA, Sep. 2001.
14. R. L. Williams, P. Gallina, and J. Vadia, "Planar translational cable-driven robots," J. Robot. Syst., vol. 20, pp. 107-120, 2003.
15. K. Maeda, S. Tadokoro, T. Takamori, M. Hiller, and R. Verhoeven, "On design of a redundant wire-driven parallel robot warp manipulator," in Proc. Int. Conf. Robot. Autom., May 1999, pp. 895-900.
16. S. Kawamura, W. Choe, S. Tanaka, and S. Pandian, "Development of an ultrahigh speed robot falcon using wire drive system," in Proc. IEEE Int. Conf. Robot. Autom., 1995, pp. 215-220.
17. S. Fang, D. Franitza, M. Torlo, F. Bekes, and M. Hiller, "Motion control of a tendon-based parallel manipulator using optimal tension distribution," IEEE/ASME Trans. Mechatron., vol. 9, no. 3, pp. 561-568, Sep. 2004.
18. W. Shiang, D. Cannon, and J. Gorman, "Dynamic analysis of the cable array robotic crane," in Proc. IEEE Int. Conf. Robot. Autom., May 1999, vol. 4, pp. 2495-2500.
19. W. Shiang, D. Cannon, and J. Gorman, "Optimal force distribution applied to a robotic crane with flexible cables," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 2000, vol. 2, pp. 1948-1954.
20. C. Pham, G. Yang, and S. Yeo, "Dynamic analysis of cable-driven parallel mechanisms," in Proc. IEEE/ASME Int. Conf. Adv. Intell. Mechatron., Jul. 24-28, 2005, pp. 612-617.
21. M. Hassan and A. Khajepour, "Minimum-norm solution for the actuator forces in cable-based parallel manipulators based on convex optimization," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 2007, pp. 1498-1503.
22. L. Mikelsons, T. Bruckmann, M. Hiller, and D. Schramm, "A real-time capable force calculation algorithm for redundant tendon-based parallel manipulators," in Proc. IEEE Int. Conf. Robot. Autom., May 2008, pp. 3869-3874.
23. R. Verhoeven and M. Hiller, "Tension distribution in tendon-based stewart platforms," presented at the ARK 8th Int. Symp. Adv. Robot Kinematics, Bagneux, France, 2002.
24. H. Zhuang, L. Liu, and O. Masonry, "Autonomous calibration of hexapod machine tools," J. Manuf. Sci. Eng., vol. 122, pp. 140-148, Feb. 2000.
25. A. Goswami, A. Quaid, and M. Peshkin, "Complete parameter identification of a robot from partial pose information," in Proc. IEEE Int. Conf. Robot. Autom., 1993, vol. 1, pp. 168-173.
26. S. Besnard and W. Khalil, "Calibration of parallel robots using two inclinometers," in Proc. IEEE Int. Conf. Robot. Autom., 1999, pp. 1758-1763.
27. A. Rauf and J. Ryu, "Fully autonomous calibration of parallel manipulators by imposing position constraint," in Proc. IEEE Int. Conf. Robot. Autom., May 2001, pp. 2389-2394.
28. P. Last, D. Schutz, A. Raatz, and J. Hesselbach, "Singularity based calibration of 3-dof fully parallel planar manipulators," presented at the 12th IFToMM World Congr., Besançon, France, Jun. 2007.
29. Y. Yiu, J. Meng, and Z. Li, "Auto-calibration for a parallel manipulator with sensor redundancy," in Proc. Int. Conf. Robot. Autom., Sep. 2003, vol. 3, pp. 3660-3665.
30. Y. Zhang, S. Conf., Z. Li, and S. Jiang, "Auto-calibration of a redundant parallel manipulator based on the projected tracking error," Arch. Appl. Mech., vol. 77, pp. 697-706, Mar. 2007.
31. S. K. Mustafa, G. Yang, S. H. Yeo, W. Lin, and I. M. Chen, "Self-calibration of a biologically-inspired 7-DOF cable-driven robotic arm," IEEE Trans. Mechatronics, vol. 13, no. 1, pp. 66-75, Feb. 2008.
32. D. Bertsimas and J. Tsitsiklis, Introduction to Linear Programming Belmont, MA: Athena Scientific, 1997.
33. G. Dantzig, A. Orden, and P. Wolfe, "Generalized simplex method for minimizing a linear form under linear inequality constraints," Pac. J. Math., vol. 5, no. 2, pp. 183-195, 1955.
34. S. Boyd and L. Vandenberghe, Convex Optimization. Cambridge, U.K.: Cambridge Univ. Press, 2004.
35. M. H. Wright, "Direct search methods: Once scorned, now respectable," presented at the Dundee Biennial Conf. Numer. Anal., Dundee, U.K., 1996.
36. K. Cheung, H. So, W. Ma, and Y. Chan, "Least squares algorithms for time-of-arrival-based mobile location," IEEE Trans. Signal Process. vol. 52, no. 4, pp. 1121-1127, Apr. 2004.