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

@article{Borgstrom2009DesignAI,
  title={Design and Implementation of NIMS3D, a 3-D Cabled Robot for Actuated Sensing Applications},
  author={Per Henrik Borgstrom and Nils Peter Borgstrom and Michael J. Stealey and Brett L. Jordan and Gaurav S. Sukhatme and Maxim A. Batalin and William J. Kaiser},
  journal={IEEE Transactions on Robotics},
  year={2009},
  volume={25},
  pages={325-339}
}
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… CONTINUE READING