Abstract
In this paper we present an improved method to compute force distributions for cable-driven parallel robots. We modify the closed-from solution such that the region where a solution is found is extended almost to the theoretical maximum, i.e. the wrench-feasible workspace. At the same time continuity along trajectories as well as real-time efficiency are maintained. The algorithm’s complexity and thus the computational burden scales linearly in the number of redundant cables. Therefore, the algorithm can also be used for highly redundant cable robots. The proposed algorithm is compared to known methods and computational results are presented based on the IPAnema prototype.
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Notes
- 1.
Li [8] only deals with the non redundant case \(r=0\), i.e. six cables and six degrees-of-freedom.
- 2.
In numerical studies some poses were found on the very boarder of the workspace where the presented methods fails to find a solution.
- 3.
Unfortunately, we have no formal proof that this holds true in general.
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Acknowledgments
This work was partially supported by Fraunhofer-Gesellschaft Internal Programs under Grant No. WISA 823 244. Furthermore, the research leading to these results received founding for the European Community’s Seventh Framework Program under grant agreement number NMP2-SL-2011-285404-CableBot.
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Pott, A. (2014). An Improved Force Distribution Algorithm for Over-Constrained Cable-Driven Parallel Robots. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_16
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DOI: https://doi.org/10.1007/978-94-007-7214-4_16
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