A Simple Minimum Cable-Tension Algorithm for a 2-DOF Planar Cable-Driven Robot Driven by 4 Cables | SpringerLink
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A Simple Minimum Cable-Tension Algorithm for a 2-DOF Planar Cable-Driven Robot Driven by 4 Cables

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Haptics: Science, Technology, and Applications (EuroHaptics 2018)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 10894))

Abstract

In this study, we propose an optimum non-iterative algorithm for the minimum cable tension solution of two degree-of-freedom cable-driven robots. The problem is specifically defined for a cable-driven robot with one end-effector connected to four motors by four cables. A two-cable algorithm and a three-cable algorithm are presented with examples, then the optimal two-cable and three-cable solutions are proven for the absolute value norm and Euclidean norm.

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Acknowledgment

The authors gratefully acknowledge the financial support of the weDRAW project funded by the European Union’s Horizon 2020 Research and Innovation Program under Grant Agreement No. 732391.

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Authors and Affiliations

  1. Robotics Brain Cognitive Science Department, Italian Institute of Technology, Genova, Italy

    Gabriel Baud-Bovy & Kamil Cetin

  2. Faculty of Psychology, Vita-Salute San Raffaele University and Unit of Experimental Psychology, IRCCS San Raffaele Scientific Institute, Milan, Italy

    Gabriel Baud-Bovy

Authors
  1. Gabriel Baud-Bovy
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  2. Kamil Cetin
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Corresponding author

Correspondence to Gabriel Baud-Bovy .

Editor information

Editors and Affiliations

  1. University of Siena, Siena, Italy

    Domenico Prattichizzo

  2. University of Tokyo, Tokyo, Japan

    Hiroyuki Shinoda

  3. Purdue University, West Lafayette, Indiana, USA

    Hong Z. Tan

  4. Scuola Superiore Sant’Anna, Pisa, Italy

    Emanuele Ruffaldi

  5. Scuola Superiore Sant’Anna, Pisa, Italy

    Antonio Frisoli

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Baud-Bovy, G., Cetin, K. (2018). A Simple Minimum Cable-Tension Algorithm for a 2-DOF Planar Cable-Driven Robot Driven by 4 Cables. In: Prattichizzo, D., Shinoda, H., Tan, H., Ruffaldi, E., Frisoli, A. (eds) Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science(), vol 10894. Springer, Cham. https://doi.org/10.1007/978-3-319-93399-3_7

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  • DOI: https://doi.org/10.1007/978-3-319-93399-3_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-93398-6

  • Online ISBN: 978-3-319-93399-3

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