[PDF] Top 20 Control Solution for a Cable-Driven Parallel Robot with Highly Variable Payload

... INTRODUCTION Cable-Driven Parallel Robots (CDPRs) form a particular class of parallel robots whose moving platform is connected to a fixed base frame by cables, as illustrated in ... Voir le document complet

... [19]. For CDPRs, the Inverse Geometric static Model (IGM) is relatively simple to obtain, but the Direct Geometric static Model (DGM) is much more difficult to solve ...issue for the control of the ... Voir le document complet

... of a suspended Cable-Driven Parallel Robot (CDPR) for pick- and-place operations of heavy and heterogeneous ...the payload mass and its center of mass in real- time is an ... Voir le document complet

... bi-actuated cable circuits are employed for different reasons in the design of several CDPRs, such as increasing the size of their wrench-feasible workspace ...of cable-loops is the actuation of ... Voir le document complet

... simulation for all the outputs. 5. SIMULATION OF THE CONTROL LAW The following section presents the results of the simulation done to validate the control ...designed with the pole placement ... Voir le document complet

... Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot Zane Zake 1,2 , Franc¸ois Chaumette 3 , Nicol`o Pedemonte 2 , and St´ephane Caro 1,4 Abstract— In ... Voir le document complet

... as a function of r b and m 2 7 Conclusion This paper addresses the optimum design and cable con- figuration of a Cable-Driven Parallel Robot (CDPR) with an embedded ... Voir le document complet

... deals with the design of a robust control scheme for a suspended Cable-Driven Parallel Robot (CDPR), composed of eight cables and a moving platform ... Voir le document complet

... Introduction Cable-Driven Parallel Robots (CDPRs) form a particular class of parallel robots whose moving platform is connected to a fixed base frame by ...allowing a ... Voir le document complet

... current payload mass and the location of center of gravity [6]; color sensors can be used to detect regularly spaced color marks on cables to improve cable length measurement ...to control CDPRs and ... Voir le document complet

... dealing with this ...[6]. For instance, for industrial operations over a large workspace and in a cluttered environment such as that shown in ... Voir le document complet

... For a RCDPR, several cable configurations may be appropriate to perform a given ...task. A cable configuration is defined as the positions of the exit points, the positions of ... Voir le document complet

... important for accurate and precise CDPR control, especially in the absence of external sensors to measure in real-time the platform pose (position and ...The robot geometry is typically supposed to ... Voir le document complet

... 4.2. Cable-cable collision detection In our study, after solving the forward and inverse kinematics given that the attachment points on the rails move vertically, the reconfiguration idea is then used to ... Voir le document complet

... as control references shows meaningful ...improvement with respect to the unshaped control in terms of Peak-to-Peak amplitude of velocity error achieves 53 % while using the ZVD input-shaper and 72 % ... Voir le document complet

... ith cable length. In the modeling, one simple virtual cable substitutes each cable ...each cable loop with Ai and Bi, i = 12, 56, as their exit point and anchor points, ...assumed ... Voir le document complet

... mounting a parallel spherical wrist in se- ries with a CDPR, while preserving a fully-parallel actuation ...As a result, the actuators always remain fixed to the base, ... Voir le document complet

... Abstract. A Mobile Cable-Driven Parallel Robot (MCDPR) is a special type of Reconfigurable Cable-Driven Parallel Robot (RCDPR) composed of a ... Voir le document complet

... across a prescribed ...along a prescribed ...reconfigurations for industrial applications over large structures can be prohibitive since several additional motorized DOFs must be used in order to ... Voir le document complet

... Abstract Cable-Driven Parallel Robots (CDPRs) also noted as wire-driven robots are parallel manipulators with flexible cables instead of rigid ...links. A CDPR consists in ... Voir le document complet