Measurement system of robot based on arbitrary layout for four base stations of cable encoders
                                                            ZHANG De li1, HONG Wei song2, PAN Guo wei1, ZHU Yu1

(1.College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;2.Institute of Machinery Manufacturing Technology, China Academy of Engineering Physics, Mianyang 621900, China)

Abstract: In order to solve the problems of analyzing the dynamic performance of robot, whose structure is complex, without position sensors at its end effector, a simple calibration method of the initial location of the four base stations of cable encoders was proposed, simply operate to the cable encoders, and the location of four base stations can be calculated by the particle swarm iteration algorithm in this method. The arbitrary layout of the base stations was ensured, so as to the efficiency of the measurement system was improved greatly. The arbitrary movement of the cable encoders to all directions can be obtained by the design of a flexible and lightweight cable guide structure, and the motion of the robot can be tracked， so the position of the end effector of the robot was conveniently obtained without changing the original structure and dynamic characteristics of the robot. The research results show that the initial position calibration method of the four base stations is high precision and fast. Measurement system is flexible, lightweight and high efficiency.

Key words: cable actuated position encoder； initial position referencing； coodinate transformation