A novel criterion is introduced in this paper to determine the set of cable tensions for Cable-Driven Parallel Robots (CDPRs) with the aim of maximizing the robot stiffness along a specific direction. Based on the feasible polygon of the CDPR and its stiffness matrix, an algorithm selects the set of admissible cable tensions leading to the smallest moving-platform displacement, the moving-platform being subject to an external wrench. The proposed tension distribution is implemented in a control scheme and experimented on a fully-constrained CDPR for a window cleaning application.


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    Titel :

    Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Lenarčič, Jadran (Herausgeber:in) / Siciliano, Bruno (Herausgeber:in) / Picard, Etienne (Autor:in) / Caro, Stéphane (Autor:in) / Plestan, Franck (Autor:in) / Claveau, Fabien (Autor:in)

    Kongress:

    International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020



    Erscheinungsdatum :

    18.07.2020


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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