Cable-Driven Parallel Robots by Bruckmann, Tobias; Pott, Andreas

By Bruckmann, Tobias; Pott, Andreas

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3). This manifold, as well as any of its slices obtained by fixing some of the pose parameters, Navigating the Wrench-Feasible C-Space of Cable-Driven Hexapods 55 can be proved to be smooth everywhere, which allows defining a systematic higherdimension continuation strategy to explore the manifold from a start configuration, until a path to a goal configuration is found, or path non-existence is proved (Sect. 4). The approach has been implemented and validated on several experiments (Sect. 5), and points for future attention have been identified (Sect.

Des. 115(3), 450–456 (1993) 12. : Dynamic trajectory planning of a two-dof cable-suspended parallel robot. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1476–1481. St-Paul, Minnesota (2012). 13. : Development of an ultrahigh speed robot FALCON using wire drive system. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 215–220 (1995). 14. : Point-to-point motion control of a pendulum-like 3-dof underactuated cable-driven robot.

The manipulator dynamics is described and input torque/force constraints are taken into account using parametric functions which represent geometric path constraints to be satisfied. Finally, the minimum-time solution for the optimal path tracking problem is found using phase plane techniques [3–5]. In most of the motions optimization has focused on minimizing motion time of manipulators, the control inputs are physically unrealizable due to the typical discontinuities at the switching times [4].

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