| Title: |
Positioning of a cable-driven parallel robot at better than 250 μm using multilateration and photogrammetric measurement systems ; Positionnement d'un robot parallèle à câbles avec une précision supérieure à 250 μm à l'aide de systèmes de mesure par multilatération et photogrammétrie |
| Authors: |
Guillory, Joffray; Wallerand, Jean-Pierre; Truong, Daniel; Sargeant, Ben; Richards, Charles; Robson, Stuart; García Berdote, Asier; Puerto, Pablo; Hervé, Pierre-Elie; Gouttefarde, Marc |
| Contributors: |
Laboratoire commun de métrologie LNE-CNAM (LCM-CNAM); Laboratoire National de Métrologie et d'Essais Trappes (LNE)-Conservatoire National des Arts et Métiers Cnam (Cnam); Conservatoire National des Arts et Métiers Cnam (Cnam); University College London UCL (UCL); Basque Research and Technology Alliance (BRTA); Tecnalia Research&Innovation; Robotique médicale et mécanismes parallèles (LIRMM; Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM); Université de Perpignan Via Domitia (UPVD)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Université de Montpellier Paul-Valéry (UMPV)-Université de Perpignan Via Domitia (UPVD)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Université de Montpellier Paul-Valéry (UMPV); European Project: 20IND02,DynaMITE |
| Source: |
ISSN: 0141-6359 ; Precision Engineering ; https://hal-lirmm.ccsd.cnrs.fr/lirmm-05419284 ; Precision Engineering, 2026, 97, pp.1087-1108. ⟨10.1016/j.precisioneng.2025.11.020⟩. |
| Publisher Information: |
CCSD; Elsevier |
| Publication Year: |
2026 |
| Collection: |
Université de Perpignan: HAL |
| Subject Terms: |
Multilateration; Photogrammetrie; Cable-driven parallel robots; Large-dimension metrology; [SPI.AUTO]Engineering Sciences [physics]/Automatic; [SPI.OTHER]Engineering Sciences [physics]/Other |
| Description: |
International audience ; Improving the positioning accuracy of cable-driven parallel robots (CDPRs) is crucial for industrial applications. These robots, operating in large volumes and handling heavy loads, have an accuracy limited by several factors, such as variations in ambient temperature or changes of the load being transported, which affect the mechanical structure of the robot or the tensions in the cables. For instance, CoGiRo is a CDPR of dimensions of 11 m × 15 m × 6 m able to move a platform weighing up to 500 kg. Its resolution is a few tens of micrometres, but its positioning, estimated from the winch encoders, lacks accuracy. To accurately place the CoGiRo mobile platform in the desired position and orientation, this paper proposes to use multilateration and photogrammetric measurement systems in a collaborative way. Photogrammetry continuously measured the poses of the mobile platform with worst-case coordinate uncertainties in the depth direction moving away from the cameras, with 0.2 mm being typical for all lines of sight, dropping to 0.5 mm where lines of sight were blocked by occlusion. The photogrammetric system reported poses at 2 Hz to the multilateration system, enabling it to align its stations on the distant targets and measure static poses of the platform with an estimated uncertainty typically less than 70 µm for the position coordinates and less than 110 µrad for the orientation angles. Multilateration measurements were then used by CoGiRo to reduce its positioning errors to less than 250 µm. The technique was validated using a practical assembly of two square-shaped metallic parts equipped with 10 independent capacitive distance sensors that allowed us to demonstrate part alignment to better than 250 µm. |
| Document Type: |
article in journal/newspaper |
| Language: |
English |
| Relation: |
info:eu-repo/grantAgreement//20IND02/EU/Joint Research Project 20IND02 DynaMITE. This project has received funding from the European Metrology Programme for Innovation and Research (EMPIR, funder ID 10.13039/100014132), co-financed by the participating states and from the European Union’s Horizon 2020 research and innovation programme./DynaMITE |
| DOI: |
10.1016/j.precisioneng.2025.11.020 |
| Availability: |
https://hal-lirmm.ccsd.cnrs.fr/lirmm-05419284; https://hal-lirmm.ccsd.cnrs.fr/lirmm-05419284v1/document; https://hal-lirmm.ccsd.cnrs.fr/lirmm-05419284v1/file/Positioning%20of%20a%20cable-driven%20parallel%20robot_Version_Finale_JG.pdf; https://doi.org/10.1016/j.precisioneng.2025.11.020 |
| Rights: |
https://creativecommons.org/licenses/by/4.0/ ; info:eu-repo/semantics/OpenAccess |
| Accession Number: |
edsbas.F67C3A02 |
| Database: |
BASE |