Sensory feedback performance improvement on RoboCab: An experimental approach to wire-driven parallel manipulator

Mohammadreza Mousavi; Masoud Ghanbari; Ali Nasr; S. Ali A. Moosavian; Payam Zarafshan

doi:10.1109/ICRoM.2016.7886787

Sensory feedback performance improvement on RoboCab: An experimental approach to wire-driven parallel manipulator

Mohammadreza Mousavi, Masoud Ghanbari, Ali Nasr, S. Ali A. Moosavian, Payam Zarafshan

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

3 Citations (Scopus)

Abstract

This paper introduces a method to improve the feedback accuracy using multisensor data fusion. Flexibility in cables and unmodeled rotation of feeder pulley in the spatial workspace cause unreliability in the encoder data as well as sagging in cables. The purpose of this work is to provide an effective scheme to combine other sensors' information from multiple sources to increase the precision and reliability of feedback data. In this study, sensor level fusion algorithm is used to integrate and fuse together the camera and Inertial Measurement Unit (IMU) data. The main application of this method is in the implementation of various control methodologies where more accurate feedback data leads to an improved control performance. It is assumed that the cable mass is negligible and hence it insignificantly contributes to the robot dynamics. Experimental results show the merits of the proposed approach which will be discussed.

Original language	English
Title of host publication	4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	477-482
Number of pages	6
ISBN (Electronic)	9781509032228
DOIs	https://doi.org/10.1109/ICRoM.2016.7886787
Publication status	Published - 2017
Externally published	Yes
Event	4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016 - Tehran, Iran, Islamic Republic of Duration: 26 Oct 2016 → 28 Oct 2016

Publication series

Name	4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016

Conference

Conference	4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	26/10/16 → 28/10/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

Cable Robot
Dynamic Analysis
Multisensor Data Fusion
Parallel Manipulator

Access to Document

10.1109/ICRoM.2016.7886787

Cite this

Mousavi, M., Ghanbari, M., Nasr, A., Moosavian, S. A. A., & Zarafshan, P. (2017). Sensory feedback performance improvement on RoboCab: An experimental approach to wire-driven parallel manipulator. In 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016 (pp. 477-482). Article 7886787 (4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM.2016.7886787

Mousavi, Mohammadreza ; Ghanbari, Masoud ; Nasr, Ali et al. / Sensory feedback performance improvement on RoboCab : An experimental approach to wire-driven parallel manipulator. 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 477-482 (4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016).

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title = "Sensory feedback performance improvement on RoboCab: An experimental approach to wire-driven parallel manipulator",

abstract = "This paper introduces a method to improve the feedback accuracy using multisensor data fusion. Flexibility in cables and unmodeled rotation of feeder pulley in the spatial workspace cause unreliability in the encoder data as well as sagging in cables. The purpose of this work is to provide an effective scheme to combine other sensors' information from multiple sources to increase the precision and reliability of feedback data. In this study, sensor level fusion algorithm is used to integrate and fuse together the camera and Inertial Measurement Unit (IMU) data. The main application of this method is in the implementation of various control methodologies where more accurate feedback data leads to an improved control performance. It is assumed that the cable mass is negligible and hence it insignificantly contributes to the robot dynamics. Experimental results show the merits of the proposed approach which will be discussed.",

keywords = "Cable Robot, Dynamic Analysis, Multisensor Data Fusion, Parallel Manipulator",

author = "Mohammadreza Mousavi and Masoud Ghanbari and Ali Nasr and Moosavian, {S. Ali A.} and Payam Zarafshan",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016 ; Conference date: 26-10-2016 Through 28-10-2016",

year = "2017",

doi = "10.1109/ICRoM.2016.7886787",

language = "English",

series = "4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016",

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Mousavi, M, Ghanbari, M, Nasr, A, Moosavian, SAA & Zarafshan, P 2017, Sensory feedback performance improvement on RoboCab: An experimental approach to wire-driven parallel manipulator. in 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016., 7886787, 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, Institute of Electrical and Electronics Engineers Inc., pp. 477-482, 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, Tehran, Iran, Islamic Republic of, 26/10/16. https://doi.org/10.1109/ICRoM.2016.7886787

Sensory feedback performance improvement on RoboCab: An experimental approach to wire-driven parallel manipulator. / Mousavi, Mohammadreza; Ghanbari, Masoud; Nasr, Ali et al.
4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 477-482 7886787 (4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

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AU - Mousavi, Mohammadreza

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AU - Nasr, Ali

AU - Moosavian, S. Ali A.

AU - Zarafshan, Payam

PY - 2017

Y1 - 2017

N2 - This paper introduces a method to improve the feedback accuracy using multisensor data fusion. Flexibility in cables and unmodeled rotation of feeder pulley in the spatial workspace cause unreliability in the encoder data as well as sagging in cables. The purpose of this work is to provide an effective scheme to combine other sensors' information from multiple sources to increase the precision and reliability of feedback data. In this study, sensor level fusion algorithm is used to integrate and fuse together the camera and Inertial Measurement Unit (IMU) data. The main application of this method is in the implementation of various control methodologies where more accurate feedback data leads to an improved control performance. It is assumed that the cable mass is negligible and hence it insignificantly contributes to the robot dynamics. Experimental results show the merits of the proposed approach which will be discussed.

AB - This paper introduces a method to improve the feedback accuracy using multisensor data fusion. Flexibility in cables and unmodeled rotation of feeder pulley in the spatial workspace cause unreliability in the encoder data as well as sagging in cables. The purpose of this work is to provide an effective scheme to combine other sensors' information from multiple sources to increase the precision and reliability of feedback data. In this study, sensor level fusion algorithm is used to integrate and fuse together the camera and Inertial Measurement Unit (IMU) data. The main application of this method is in the implementation of various control methodologies where more accurate feedback data leads to an improved control performance. It is assumed that the cable mass is negligible and hence it insignificantly contributes to the robot dynamics. Experimental results show the merits of the proposed approach which will be discussed.

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Mousavi M, Ghanbari M, Nasr A, Moosavian SAA, Zarafshan P. Sensory feedback performance improvement on RoboCab: An experimental approach to wire-driven parallel manipulator. In 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016. Institute of Electrical and Electronics Engineers Inc. 2017. p. 477-482. 7886787. (4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016). doi: 10.1109/ICRoM.2016.7886787

Sensory feedback performance improvement on RoboCab: An experimental approach to wire-driven parallel manipulator

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

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Cite this