Kinematic Identification Method for Cable-Driven Rescue Robots in Unstructured Environments
Satoshi Tadokoro*,**, Richard Verhoeven***, Ulrike Zwiers*,***, Manfred Hiller***, and Fumiaki Takemura**
*Department of Computer and Systems Engineering, Kobe University, 1-1 Rokkodai, Nada, Kobe, 657-8501 Japan
**International Rescue System Institute, 1-5-2 Minatojima-Minami-Machi, Chuo-ku, Kobe, 650-0047 Japan
***Institute für Mechatronik und Systemdynamik, Universität Duisburg-Essen, Lotharstr. 1, MD 220-239, 47057 Duisburg, Germany
Cable-driven parallel robots are being developed for rescue operations in large-scale earthquake disasters. This paper proposes an identification method of kinematic parameters for the installation, such as the position of cable fixture by initializing motion on site. This problem is unique to robots in natural fields, such as disaster sites because the environment is not structured. On the basis of identification error analysis and simulation, the optimal number of measurement points and the size of an identification reference frame are obtained.
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