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Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots

Julien Alexandre Dit Sandretto 1 Gilles Trombettoni 2 David Daney 1
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
2 COCONUT - Agents, Apprentissage, Contraintes
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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
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https://hal.inria.fr/hal-00907510
Contributor : David Daney <>
Submitted on : Thursday, November 21, 2013 - 1:15:23 PM
Last modification on : Monday, January 11, 2021 - 5:24:07 PM

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CNRS | INRIA | ENPC | PARISTECH | LIRMM | COCONUT | MIPS | UNIV-MONTPELLIER | ARITH

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Julien Alexandre Dit Sandretto, Gilles Trombettoni, David Daney. Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots. Viadero, Fernando; Ceccarelli, Marco. New Trends in Mechanism and Machine Science, Mechanisms and Machine Science (7), Springer Netherlands, pp.85-93, 2013, Theory and Applications in Engineering, 978-94-007-4901-6. ⟨10.1007/978-94-007-4902-3_9⟩. ⟨hal-00907510⟩

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