Design and Implementation of NIMS3D, a 3-D Cabled Robot for Actuated Sensing Applications

We present NIMS3D, a novel 3-D cabled robot for actuated sensing applications. We provide a brief overview of the main hardware components. Next, we describe installation procedures, including novel calibration methods, that enable rapid in-field deployability for nonexpert end users, and provide si...

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Bibliographic Details
Published in:IEEE transactions on robotics 2009-04, Vol.25 (2), p.325-339
Main Authors: Borgstrom, P.H., Borgstrom, N.P., Stealey, M.J., Jordan, B., Sukhatme, G.S., Batalin, M.A., Kaiser, W.J.
Format: Article
Language:English
Subjects:
Actuators
Applied sciences
Cabled robots
Cables
Calibration
Computer science
control theory
systems
Control systems
Control theory. Systems
Detection
Dynamical systems
End users
Energy efficiency
environmental robots
Exact sciences and technology
field robots
Hardware
Installations
Kinematics
Nonlinear dynamics
Nonlinearity
Parallel robots
Robot sensing systems
Robotics
robotics in hazardous fields
Robots
Sensors
Simulation
Stability
Trajectories
Vehicle dynamics
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Summary:We present NIMS3D, a novel 3-D cabled robot for actuated sensing applications. We provide a brief overview of the main hardware components. Next, we describe installation procedures, including novel calibration methods, that enable rapid in-field deployability for nonexpert end users, and provide simulations and experimental results to highlight their effectiveness. Kinematic and dynamic analysis of the system are provided, followed by a description of control methods. We provide experimental results that illustrate tracking of linear and nonlinear paths by NIMS3D. Thereafter, we briefly present an example of an actuated sensing task performed by the system. Finally, we describe methods of improving energy efficiency by leveraging nonlinear trajectories and energy-optimal tension distributions. Experimental and simulated results show that energy efficiency can be improved significantly by using optimized parabolic trajectories. Furthermore, we provide simulation results that demonstrate improved efficiency enabled by optimal, least norm tension distributions.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2009.2012339