Homing Algorithm Analysis for a Cable-Driven 3-DOF Shoulder Joint
Control accuracy and consistent initial home posture is essential when we compare and analyze control algorithms. In general, in order to reduce the accumulative error of the controlling process or estimate the initial posture, the robot system need to return to its approximate home posture firstly. According to the structural characteristics of the cable-driven parallel robot, this paper describes a novel homing algorithm to a 3-DOF parallel spherical joint. Utilizing incremental encoders and limit switch to detect the home posture, the automatic homing function was realized in three steps by decoupling control to each axis of the spherical joint. Simulation was also performed to show the effectiveness of the homing algorithm.
Cable-driven Parallel Mechanism Homing
Weihai Chen Quanzhu Chen Rong Liu Jianbin Zhang
School of Automation Science and Electrical EngineeringBeijing University of Aeronautics & Astronaut School of Mechanical Engineering and AutomationBeijing University of Aeronautics & AstronauticsBeiji School of Mechanical Engineering and Automation Beijing University of Aeronautics & Astronautics Bei
国际会议
IEEE 10th International Conference on Industrial Informatics(第十届IEEE工业信息学国际学术会议 INDIN2012)
北京
英文
1170-1175
2012-07-25（万方平台首次上网日期，不代表论文的发表时间）