We are considering cable-driven parallel robot (CDPR), where the legs of the robot are constituted of cables that can be independently coiled/uncoiled. We show that whatever the size of the CDPR is we may have slack cables so that using a sagging cable model that takes into account both the mass and elasticity of the cables will improve the positioning accuracy. Being able to solve the inverse and direct kinematics (IK/DK) with sagging cables is crucial for kinematic analysis while being quite complex as both IK/DK may have multiple solutions. We present a panorama of solving methods for the IK/DK with their advantages and drawbacks.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Altuzarra, Oscar (Herausgeber:in) / Kecskeméthy, Andrés (Herausgeber:in) / Merlet, J.-P. (Autor:in) / Tissot, R. (Autor:in)

    Kongress:

    International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022



    Erscheinungsdatum :

    2022-06-18


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch