Real-Time Vision-Based Localization of Planar Cable-Driven Parallel Robot

摘要

Cable-driven parallel robot (CDPR) is a special class of parallel manipulators where the motion of end-effector (EE) is controlled by flexible cables attached to it. In industrial robotics field, CDPRs have quite a high usability. Recently, kinematics and dynamics of CDPRs have been analyzed intensively. But still, there is a problem in identification of position and orientation which need to be researched. In this study, we developed a real-time vision-based localization technique for EE of planar CDPR. We developed a robust algorithm which includes camera calibration and real-time monitoring of a visual marker. A planar CDPR with two translation and one rotation parameters used for proving ground. The results prove the reliability of developed vision system.