JRM Vol.28 No.6 pp. 808-818
doi: 10.20965/jrm.2016.p0808


Error Evaluation Method of Approximated Inverse Kinematics for Parallel-Wire Driven System – Basic Study for Three-Wire Planar System –

Hitoshi Kino*, Nobuhiro Okubo*, Toshihide Ikeda**, and Hiroaki Ochi***

*Department of Intelligent Mechanical Engineering, Fukuoka Institute of Technology
3-30-1 Wajirohigashi, Higashi-ku, Fukuoka-shi, Fukuoka 811-0295, Japan

**Development Department, OREC Co., Ltd.
548-22 Hiyoshi, Hirokawa-machi, Yame-gun, Fukuoka 834-0195, Japan

***Department of Mechanical Engineering, Tokyo University of Science, Yamaguchi
1-1-1 Daigakudori, Sanyo-Onoda, Yamaguchi 756-0884, Japan

March 4, 2016
August 24, 2016
December 20, 2016
kinematics, error, position, analysis, approximation
Parallel-wire driven system, a kind of parallel-link mechanism, employs flexible and light wires in place of rigid links. By applying kinematics to parallel-wire driven systems, we seek to obtain the relationship between the end-effector’s position and wire length. Kinematics usually approximates the wire-contacting point of the winding reel (or guiding pulley) in the actuator unit to be a fixed point. Similar kinematic approximations, however, are likely to cause errors in controlling the end-effector position. In this study, therefore, we attempt to evaluate end-effector positioning errors due to inverse kinematic approximations. As the first step, we analyze end-effector positioning errors in two-degrees-of-freedom planar system and propose two methods to evaluate the positioning errors. Then, we conduct two case studies where we compare the errors due to inverse kinematic approximations and effects of wire’s elastic elements in order to confirm effectiveness of the proposed methods for evaluating end-effector positioning errors.
Two-degrees-of-freedom planar system using three wires

Two-degrees-of-freedom planar system using three wires

Cite this article as:
H. Kino, N. Okubo, T. Ikeda, and H. Ochi, “Error Evaluation Method of Approximated Inverse Kinematics for Parallel-Wire Driven System – Basic Study for Three-Wire Planar System –,” J. Robot. Mechatron., Vol.28 No.6, pp. 808-818, 2016.
Data files:
  1. [1] H. Kino and S. Kawamura, “Mechanism and Control of Parallel-Wire Driven System,” J. of Robotics and Mechatronics, Vol.27, No.6, pp. 599-607, 2015.
  2. [2] X. Tang, “An Overview of the Development for Cable-Driven Parallel Manipulator,” Advances in Mechanical Engineering, Vol.2014, pp. 1-9, 2014.
  3. [3] T. Bruckmann and A. Pott (Eds.), “Cable-Driven Parallel Robots (Mechanisms and Machine Science 12),” Springer-Verlag Berlin Heidelberg, 2013.
  4. [4] A. Pott and T. Bruckmann (Eds.), “Cable-Driven Parallel Robots: Proceedings of the Second International Conference on Cable-Driven Parallel Robots (Mechanisms and Machine Science 32),” Springer International Publishing Switzerland, 2015.
  5. [5] S. Kawamura, H. Kino, and W. Choe, “High speed manipulation by using parallel wire driven robots,” Robotica, Vol.18, Part 1, pp. 13-21, 2000.
  6. [6] H. Kino, T. Yahiro, F. Takemura, and T. Morizono, “Robust PD Control Using Adaptive Compensation For Completely Restrained Parallel-wire Driven Robots: Translational Systems Using the Minimum Number of Wires Under Zero-gravity Condition,” Trans. on Robotics, Vol.23, No.4, pp. 803-812, 2007.
  7. [7] H. Kino, T. Yahiro, S. Taniguchi, and K. Tahara, “Sensorless Position Control Using Feedforward Internal Force for Completely Restrained Parallel-wire Driven Systems,” Trans. on Robotics, Vol.25, No.2, pp. 467-474, 2009.
  8. [8] R. Clavel, “DELTA, a fast robot with parallel geometry,” Proc. Int. Symp. on Industrial Robots, pp. 91-100, 1988.
  9. [9] F. Pierrot, P. Dauchez, and A. Fournier, “HEXA: a fast six-DOF fully-parallel robot,” Int. Conf. on Advanced Robotics, Vol.2, pp. 1158-1163, 1991.
  10. [10] M. Uchiyama, “6 d.o.f. parallel robot HEXA,” Advanced Robotics, Vol.8. No.6, p. 601, 1993.
  11. [11] C. Jiang, K. Takagi, S. Hirano, T. Suzuki, S. Hosoe, K. Hashimoto, and A. Nozawa, “Flexible Parallel Link Mechanism Using Tube-Type Dielectric Elastomer Actuators,” J. Robotics and Mechatronics, Vol.27, No.5, pp. 504-512, 2015.
  12. [12] J. Albus, R. Bostelman, and N. Dagalakis, “The nist robocrane,” J. Robotic Systems, Vol.10, No.5, pp. 709-724, 1993.
  13. [13] H. Osumi, T. Arai, and H. Asama, “Development of a Seven Degrees of Freedom Crane with Three Wires (1st Report) – Inverse Kinematics of the Crane –,” J. Japan Society for Precision Engineering, Vol.59, No.5, pp. 767-772, 1993 (in Japanese).
  14. [14] A. Ming and T. Higuchi, “Study on multiple degree-of-freedom positioning mechanism using wires (part 1) – concept, design and control,” Int. J. Japan Social Engineering, Vol.28, No.2, pp. 131-138, 1994.
  15. [15] A. Ming and T. Higuchi, “Study on multiple degree-of-freedom positioning mechanism using wires (part 2) – development of a planar completely restrained positioning mechanism,” Int. J. Japan Social Engineering, Vol.28, No.3, pp. 235-242, 1994.
  16. [16] R. Lindemann and D. Tesar, “Construction and Demonstration of a 9-String 6-DOF Force Reflecting Joystick for Telerobotics,” Proc. NASA conf. Space Telerobotics, Vol.4, pp. 55-63, 1989.
  17. [17] Y. Hirata and M. Sato, “3-Dimensional Interface Device for Virtual Work Space,” Proc. Int. Conf. on Intelligent Robots and Systems, Vol.2, pp. 889-896, 1992.
  18. [18] S. Kawamura and K. Itoh, “New Type Master Robot for Teleoperation Using A Radial Wire Drive System,” Proc. of Int. Conf. on Intelligent Robots and Systems, Vol.1, pp. 55-60, 1993.
  19. [19] D. Yamaguchi, Y. Tagawa, M. Hayatsu, and M. Yamada, “Sequential Identification Technique of Jacobian Matrix for a Power-Assisted Lifter Using Wire-Driven Parallel Mechanism,” J. Robotics and Mechatronics, Vol.16, No.3, pp. 228-236, 2004.
  20. [20] P. H. Borgstrom, B. L. Jordan, B. J. Borgstrom, M. J. Stealey, G. S. Sukhatme, M. A. Batalin, and W. J. Kaiser, “NIMS-PL: A Cable-Driven Robot With Self-Calibration Capabilities” Trans. on Robotics, pp. 1005-1015, Vol.25, No.5, 2009.
  21. [21] P. Miermeister, A. Pott, and A. Verl, “Auto-Calibration Method for Overconstrained Cable-Driven Parallel Robots,” Proc. Int. Sympo. Robotics, pp. 1-6, 2012.
  22. [22] P. Miermeister, A. Pott, and A. Verl, “Dynamic Modeling and Hardware-In-The-Loop Simulation for the Cable-Driven Parallel Robot IPAnema,” Proc. Int. Sympo. Robotics, pp. 1-8, 2010.
  23. [23] M. C. Lei and D. Oetomo, “Cable Wrapping Phenomenon in Cable-Driven Parallel Manipulators,” J. Robotics and Mechatronics, Vol.28, No.3, pp. 386-396, 2016.
  24. [24] Y. Cai, S. Wang, M. Ishii, and M. Sato, “Position Measurement Improvement on a Force Display Device Using Tensed Strings,” IEICE Trans. Information and Systems Vol.E79-D, No.6, pp. 792-798, 1996.
  25. [25] A. Alikhani and M. Vali, “Modeling and robust control of a new large scale suspended cable-driven robot under input constraint,” Proc. Int. Conf. Ubiquitous Robots and Ambient Intelligence, pp. 238-243, 2011.
  26. [26] T. Dallej, M. Gouttefarde, N. Andreff, M. Micael, and P. Martinet, “Towards vision-based control of cable-driven parallel robots,” Proc. Int. Conf. Intelligent Robots and Systems, pp. 2855-2860, 2011.
  27. [27] E. Laroche, R. Chellal, L. Cuvillon, and J. Gangloff, “A Preliminary Study for H Control of Parallel Cable-Driven Manipulators,” Cable-Driven Parallel Robots, Vol.12 of the series Mechanisms and Machine Science, pp. 353-369, Springer-Verlag Berlin Heidelberg, 2013.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on May. 19, 2024