NDLI: Homing algorithm analysis for a cable-driven 3-DOF shoulder joint

Content Provider	IEEE Xplore Digital Library
Author	Weihai Chen Quanzhu Chen Rong Liu Jianbin Zhang
Copyright Year	2012
Description	Author affiliation: School of Mechanical Engineering and Automation, Beijing University of Aeronautics & Astronautics, Beijing 100191, China (Rong Liu; Jianbin Zhang) \|\| School of Automation Science and Electrical Engineering, Beijing University of Aeronautics & Astronautics, Beijing 100191, China (Weihai Chen; Quanzhu Chen)
Abstract	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.
Starting Page	1170
Ending Page	1175
File Size	1217778
Page Count	6
File Format	PDF
ISBN	9781467303125
e-ISBN	9781467303118
DOI	10.1109/INDIN.2012.6301189
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Couplings Homing Shoulder Switches Mechanical cables Cable-driven Silicon Parallel Mechanism Joints Robots
Content Type	Text
Resource Type	Article

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