Cable-Driven Parallel Robots (CDPRs) are overconstrained when they have more cables than the degrees of freedom of the end-effector (EE). This paper introduces a technique to analyze the wrench feasible workspace of this class of robots when a hybrid force-position control is used in joint space, namely when as many cables as the EE freedoms control the robot pose, and the remaining ones are used to keep all cables under tension.
Hybrid-Control-Based Workspace Analysis of Overconstrained Cable-Driven Parallel Robots
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2024 ; Ljubljana, Slovenia June 30, 2024 - July 04, 2024
2024-07-03
8 pages
Article/Chapter (Book)
Electronic Resource
English
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