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

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Petr Kuznetsov,Thibault Rieutordinterferences are considered. The first type is the collisions between cables and cables. The second type is the interferences between cables and the CDPR mobile platform. In each case, an algorithm is proposed to efficiently verify the cable interferences. The use of the proposed algorithms is then

GRAIN

Self-stabilizing Reconfigurationorkspace. CSPRs present, among other interesting characteristics, large workspaces and high reconfigurability, which make them attractive for a large variety of applications, especially for pick and place operations over wide spaces. This paper is based on the assumption that the safest (and cheapes

Cocker

兇猛

Petr Kuznetsov,Thibault Rieutorduage. The elementary classes constituting a CDPR are shown with their constructor specificities. The winches, the pulleys, the cable fastenings and the platform are presented. The parameterization of elements such as the cable material characteristics, structure and size are detailed. An interface b

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Saswata Jana,Partha Sarathi Mandalper. The concept of the dynamic trajectory planning of a three-dof spatial cable-suspended parallel robot is first briefly recalled. Then, periodic trajectories are planned and an external three-dimensional measurement system is used to determine the actual trajectory of the end-effector. Linear reg

傾聽

Pebble Guided Treasure Hunt in?Planeire robots, CDPR) mainly developed to tackle the problems with variable system structures, i.e. often reconfigurable common robot platform. Indeed, the developed calibration procedure can also be applied to the systems with stationary (end-effector- i.e. gripper-like) platforms, however the benefits

蚊子

A Formal Analysis of?Karn’s Algorithmller is governed by a computed-torque-control structure with a shaping of the internal forces resulting from the chosen mass matrix. These gains are intended to equip each manipulator with the feature of an impedance to enforce a dynamical relationship between the end-effector (EE) velocity and the

樸素

Raed Alharbi,Tre’ R. Jeter,My T. Thaiatic parameters. To develop the idea, firstly, adaptation is performed on dynamic parameters and it is shown that the controller is stable despite the kinematic uncertainties. Then, internal force term is linearly separated into a regressor matrix in addition to a kinematic parameter vector that con

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