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3D Cable-Based Cartesian Metrology System



R L. Williams, James S. Albus, Roger V. Bostelman


A novel cable-based metrology system is presented wherein six cables are connected in parallel from groundmounted string pots to the moving object or tool of interest. Cartesian pose can be determined for feedback control and other purposes by reading the lengths of the six cables via the string pots and using closed-form forward pose kinematics. This article focuses on a sculpting metrology tool, assisting a human artist in generating a piece from a computer model, but applications exist in manufacturing, rapid prototyping, robotics, and automated construction. We present experimental data to demonstrate the operation of our system, we study the absolute accuracy and also measurement resolution, and we discuss various error sources. The proposed real-time cable-based metrology system is less complex and more economical than existing commercial Cartesian metrology technologies.
Journal of Robotic Systems


cable-suspended, Cartesian pose, Construction, forward pose kinematics, Metrology, metrology system sculpting, Robot Crane, Robotics & Intelligent Systems


Williams, R. , Albus, J. and Bostelman, R. (2003), 3D Cable-Based Cartesian Metrology System, Journal of Robotic Systems, [online], (Accessed July 22, 2024)


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Created December 31, 2003, Updated February 17, 2017