Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker. Least value of about 18 mm was observed at the middle of the workspace and it agreed with the measurement from laser tracker. Using the proposed method it was also possible to measure orientation repeatability considering the end-effector coordinate system as the reference, which is an advantage over using a laser tracker. Since the robot workspace is very large and there are restrictions on feasible measurement volume while using a camera, a method to determine suitable locations of the camera to enable measurement in all of the workspace is also proposed. Results of this analysis show that the camera may be positioned at four feasible regions during measurement over the whole workspace. Finally, a method for measurement of cable profile is also proposed. The position and slope of the cable at two locations were measured using a camera. This was utilized to fit a catenary model such that profile of the cable between these points can be determined. Experiments conducted to determine the cable profile in different regions of workspace showed that there is comparatively greater sagging at the periphery of the workspace which explains the higher positioning errors in the same region.

提出了使用单目相机测量欠驱动电缆驱动机器人的性能指标，即重复性和方向精度。在用于建筑的电缆驱动机器人上进行了实验，并将结果与​​激光跟踪器的结果进行了比较。在工作区中间观察到的最小值约为 18 mm，这与激光跟踪仪的测量结果一致。使用所提出的方法，还可以考虑将末端执行器坐标系作为参考来测量方向可重复性，这比使用激光跟踪器更具优势。由于机器人工作空间非常大，并且在使用相机时对可行的测量体积有限制，因此还提出了一种确定相机的合适位置以便在所有工作空间中进行测量的方法。该分析的结果表明，在整个工作空间的测量过程中，相机可能位于四个可行的区域。最后，还提出了一种测量电缆剖面的方法。使用相机测量电缆在两个位置的位置和斜率。这用于拟合悬链线模型，以便可以确定这些点之间的电缆轮廓。为确定工作空间不同区域的电缆轮廓而进行的实验表明，工作空间外围的下垂相对较大，这解释了同一区域内较高的定位误差。使用相机测量电缆在两个位置的位置和斜率。这用于拟合悬链线模型，以便可以确定这些点之间的电缆轮廓。为确定工作空间不同区域的电缆轮廓而进行的实验表明，工作空间外围的下垂相对较大，这解释了同一区域内较高的定位误差。使用相机测量电缆在两个位置的位置和斜率。这用于拟合悬链线模型，以便可以确定这些点之间的电缆轮廓。为确定工作空间不同区域的电缆轮廓而进行的实验表明，工作空间外围的下垂相对较大，这解释了同一区域内较高的定位误差。