Can I read A Practical Force Correction Method for Over-Constrained Cable-Driven Parallel Robots on EtoBox?

A Practical Force Correction Method for Over-Constrained Cable-Driven Parallel Robots by Marc Fabritius; Christoph Martin; Guillermo Rubio Gomez; Werner Kraus; Andreas Pott is a book available to read on EtoBox.

What is A Practical Force Correction Method for Over-Constrained Cable-Driven Parallel Robots about?

Cable-driven parallel robots can have a much larger workspace than other parallel robots with rigid links or conventional serial robots. This property comes at the cost of more complex workspace calculations and control schemes that are necessary to account for the elasticity and unilateral force transmission of their parallel cable links. In practice, most cable-driven parallel robots cannot achieve the full workspace that is predicted by theoretical models. This is due to calibration errors and simplified modelling assumptions in the control schemes. While most previous works on this subject have focused on creating more accurate and complex models, the goal of this work is to increase the workspace volume that cable-driven parallel robots can realize in practice by using a simple model coupled with a new force correction method that is robust to modelling errors and uncertainties. The new method applies force corrections within the nullspace of the structure matrix in order to keep the cable forces within their limits. Experiments show that the new method can significantly increase the workspace when used in addition to basic kinematic codes. In simulations this combination achi

Author

Marc Fabritius; Christoph Martin; Guillermo Rubio Gomez; Werner Kraus; Andreas Pott

Publisher

Springer International Publishing : Imprint: Springer

Published

2021

Language

EN

ISBN

9783030757885

Subjects

Engineering, Science, Stem