Patent attributes
A method for parameterizing a photogrammetric cable robot, having a frame, a mobile platform carrying a camera and cables, each cable extending from a mobile platform attachment point to a position-adjustable exit point, while remaining linked to the frame. The robot's maximum workspace is defined by the ranges of possible positions of the different cable exit points. A set of pairs of setpoint positions and orientations of the platform is determined, for performing the point measurements of a scene by photogrammetry. Then, a genetic algorithm comprising crossing, transformation and selection operations is applied to a population of vectors, each representing respective positions of cable exit points, the selection being made via a fitness function involving a first objective function evaluating a collision percentage and a second objective function evaluating a percentage violation of a mobile platform constraint of equilibrium, when the platform assumes the different setpoint positions and orientations.
