Forward Kinematics Resolution of A Deployable Cable Robot

Abstract

In this paper, forward kinematic derivation of a deployable suspended cable robot (DSCR) is investigated. Since the positions of the cable attachment points in this robot are not accurately available, the forward kinematics of the robot would not provide an accurate estimate for the end effector position. This paper proposes two methods to improve the accuracy of the forward kinematic solutions. First, an analysis on parameter sensitivity is presented and effective parameters are extracted. Then, based on these parameters and by using the redundant equations of the DSCR, a new set of equations for forward kinematic analysis are derived. The second method proposed in this paper is based on a geometrical analysis of kinematic uncertainty bounds. Finally, using the simulation results the effectiveness of the proposed methods is verified by illustrating the significant accuracy improvement in the obtained end effector positions.