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.


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    Title :

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


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

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



    Publication date :

    2022-06-18


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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