Calibration for a planar cable-Driven parallel robot

This paper proposes a calibration algorithm for a three-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). To evaluate the proposed algorithm, we calibrated winches and an optical tracking sensor, measured the end-effector pose using the optical tracking sensor, and calculated the accurate robot configuration using the measurement information. To conduct an accuracy test on the end-effector pose, we followed guidelines from "Manipulating industrial robots-Performance criteria and related test methods." Through the test, it is verified that the position accuracy can be improved by up to 20% for a 2m × 2m-sized planar cable robot using the proposed calibration algorithm.