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Conference papers

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 neglected, 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.
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Submitted on : Tuesday, February 14, 2017 - 6:27:24 PM
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  • HAL Id : hal-00987425, version 1


Julien Alexandre Dit Sandretto, Gilles Trombettoni, David Daney. Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots. EUCOMES: European Conference on Mechanism Science, Sep 2012, Santander, Spain. ⟨hal-00987425⟩



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