2023
Initial-Pose Self-Calibration for Redundant Cable-Driven Parallel Robot Using Force Sensors Under Hybrid Joint-Space Control
RA-L 2023
This letter investigates initial-pose estimation (Cartesian position and orientation) for redundant cable-driven parallel robots (CDPRs). As the forward kinematics cannot be performed if the robot is equipped with incremental sensors, a calibration method using force sensors is proposed. The self-ca