Research Article

Analysis and Evaluation of CDPR Cable Sagging Based on ANFIS

Table 3

Experiment result of our CDPR with 11 node points.

PoseDesired positions (mm)Actual positions (mm)Errors (mm)
(xDi, yDi, zDi, αDi, βDi, γDi)(xAi, yAi, zAi, αAi, βAi, γAi)(Exi, Eyi, Ezi, i, i, i)

P1(4, 4, 404, 2.3, 0.5, 0.9)(−8, −9, 413, 8, 6, 7)(12, 13, −9, −5.7, −5.5, −6.1)
P2(400, 400, 800, 2.3, 0.5, 0.9)(348, 390, 812, 7, 7, 9)(16, 10, 12, −4.7, −6.5, −8.1)
P3(−200, −100, 1000, 17.2, 17.2, 22.9)(−208, −107, −1007, 12, 10, 18)(8, 7, −7, 5.2, 7.2, 4.9)
P4(−1050, −250, 1055, 5.7, 22.9, 34.4)(−1042, −241, −1059, 9, 17, 30)(−8, −9, −2, −3.3, 5.9, 4.4)
P5(−1155, −1055, 1152, 17.2, 28.7, 45.9)(−1144, −1065, −1145, 11, 23, 41)(−11, 10, 7, 6.2, 5.7, 4.9)
P6(−555, −355, 1552, 34.4, 40.1, 40.1)(−552, −360, 1549, 33, 43, 43)(−3, 5, 3, 1.4, −2.9, −2.9)
P7(45, 345, 1587, 40.1, 28.7, 28.7)(48, 342, 1586, 39, 30, 32)(−3, 3, 1, 1.1, −1.3, −3.3)
P8(268, 866, 1332, 45.9, 17.2, 11.5)(273, 875, 1335, 48, 22, 14)(−5, −9, −3, −2.1, −4.8, −2.5)
P9(673, 365, 707, 28.7, 11.5, 0)(662, 374, 719, 33, 16, 3)(11, −9, −12, −4.3, −4.5, −3.0)
P10(895, 36, 872, 11.5, 5.7, 7.2)(882, 24, 882, 8, 10, 12)(13, 12, −10, 3.5, −4.3, 5.2)
P11(−360, 40, 440, 0, 0, 0)(−375, 28, 451, 5, 4, 6)(15, 12, −11, −5.0, −4.0, −6.0)