Titlebook: Cable-Driven Parallel Robots; Proceedings of the S Andreas Pott,Tobias Bruckmann Conference proceedings 2015 Springer International Publish

胰島素

The Forward Kinematics of Cable-Driven Parallel Robots with Sagging Cablesd own mass and we present for the first time an interval analysis based generic algorithm that allows to calculate in a guaranteed manner all the FK solutions and illustrate its use for a CDPR with 8 cables.

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Robust Internal Force-Based Impedance Control for Cable-Driven Parallel Robotszed momentum approach is incooperted into the control scheme to impart the impedance controller the necessary robustness. To validate the described robust impedance control scheme, experiments with a 6-DOF CDPR with industrial BLDC-Motors are presented.

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Dynamic Analysis and Control of Fully-Constrained Cable Robots with Elastic Cables: Variable Stiffnesults of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed composite control law is investigated through several simulations on a planar parallel cable robot.

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Pebble Guided Treasure Hunt in?Planen agriculture, which with changes of the application fields should be often periodically reconfigured and commissioned (calibrated). The paper provides detailed mathematical modelling of the novel calibration approach based on the parameter sensitivity analysis of the robot kinematic models includin

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Raed Alharbi,Tre’ R. Jeter,My T. Thairation as well. Finally, the effectiveness of the proposed control algorithm is examined through some experiments on KNTU planar cable-driven parallel robot and it is shown that the proposed control algorithm is able to provide suitable performance in practice.

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J. J. Garcia-Luna-Aceves,Dylan Cirimelli-Low the cables. Second is the tension distribution to maintain the cables under feasible tensions, the paper makes an extensive review of the available methods and presents an algorithm inspired from one of them extended to the dynamic control.

Cpap155

Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: