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Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots
Abstract : In the cable-driven robot studies, the mass and the elasticity of cables are often ne- glected, particularly for small-sized robots. Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration. We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration.
Keywords :
Cable-driven robot
Interval analysis
https://hal.inria.fr/hal-00907510
Contributor : David Daney Connect in order to contact the contributor
Submitted on : Wednesday, May 26, 2021 - 12:02:11 PM
Last modification on : Thursday, January 20, 2022 - 5:32:15 PM
Long-term archiving on: : Friday, August 27, 2021 - 7:16:45 PM
Contributor : David Daney Connect in order to contact the contributor
Submitted on : Wednesday, May 26, 2021 - 12:02:11 PM
Last modification on : Thursday, January 20, 2022 - 5:32:15 PM
Long-term archiving on: : Friday, August 27, 2021 - 7:16:45 PM
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a_eucomes2012.pdf
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