In the context of applications requiring large workspace such as painting of airliners, a cable-driven parallel robot (CDPR) having a manipulator (robot arm) on-board its mobile platform possesses an interesting potential. Such a robotic system has typically more than six degrees of freedom (DOFs) and, hence, more than the minimum required to accomplish a task in Cartesian space. In particular, a robotic system consisting of a six-DOF cable-driven parallel robot whose mobile platform is equipped with a seven-DOF manipulator is considered in this paper. This robotic system being kinematically redundant, a redundancy resolution scheme is used to allow its end-effector to follow a relatively complex path in Cartesian space while avoiding cable collisions and satisfying some constraints on the CDPR workspace.


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    Title :

    Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot


    Additional title:

    Mechan. Machine Science



    Conference:

    International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021


    Published in:

    Cable-Driven Parallel Robots ; Chapter : 26 ; 323-335


    Publication date :

    2021-06-01


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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