Cable-driven robots have great application potentials in confined spaces due to their light and slim bodies. However, their kinematic accuracy is generally much lower than that of the traditional articulated manipulators, because it is difficult to install sensors on its joints to directly measure the joint position. To solve the above problems, this paper proposed a vision-based method for cable-driven robots to simultaneously measure the manipulator configuration and the target pose. The configuration is reconstructed through the detection of Apriltag 2D code and the kinematics model of cable-driven robots. The target detection method in this paper consists of the template matching method and the natural features detection. Experiments are carried out to verify the method proposed in this article, including kinematic parameters calibration, arm-shape measurement, target pose measurement and docking test. The results show that the average position error of the robot end-effector decreases from 9.12 mm to 1.86 mm after calibration. The links’ position errors measured by the method in this paper are less than 10 mm. The position and the angle errors are respectively 2 mm and 1° at the target pose measurement, and the success rate of docking experiment is more than 98%. The experimental results show that the simultaneous measurement method of manipulator configuration and target pose proposed in this paper has a great effect on improving the motion accuracy and the working ability of the intelligent cable-driven robot.

电缆驱动的机器人由于其轻巧的机身在密闭空间中具有巨大的应用潜力。然而，它们的运动精度一般远低于传统的铰接式机械手，因为在其关节上安装传感器很难直接测量关节位置。针对上述问题，本文提出了一种基于视觉的电缆驱动机器人同时测量机械手配置和目标位姿的方法。通过Apriltag二维码检测和电缆驱动机器人运动学模型重构配置。本文的目标检测方法由模板匹配法和自然特征检测法组成。进行实验以验证本文提出的方法，包括运动学参数校准，臂形测量、目标姿态测量和对接测试。结果表明，校准后机器人末端执行器的平均位置误差从9.12 mm降低到1.86 mm。本文方法测得的链节位置误差小于10 mm。目标位姿测量时位置误差和角度误差分别为2 mm和1°，对接实验成功率达98%以上。实验结果表明，本文提出的机械手构型与目标位姿同步测量方法对提高智能线缆驱动机器人的运动精度和工作能力有很大的作用。校准后 86 毫米。本文方法测得的链节位置误差小于10 mm。目标位姿测量时位置误差和角度误差分别为2 mm和1°，对接实验成功率达98%以上。实验结果表明，本文提出的机械手构型与目标位姿同步测量方法对提高智能线缆驱动机器人的运动精度和工作能力有很大的作用。校准后 86 毫米。本文方法测得的链节位置误差小于10 mm。目标位姿测量时位置误差和角度误差分别为2 mm和1°，对接实验成功率达98%以上。实验结果表明，本文提出的机械手构型与目标位姿同步测量方法对提高智能线缆驱动机器人的运动精度和工作能力有很大的作用。