Skip to Main content Skip to Navigation
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.
Document type :
Conference papers
Complete list of metadata

Cited literature [11 references]  Display  Hide  Download

https://hal.inria.fr/hal-00987425
Contributor : David Daney <>
Submitted on : Tuesday, February 14, 2017 - 6:27:24 PM
Last modification on : Monday, January 11, 2021 - 5:24:08 PM
Long-term archiving on: : Monday, May 15, 2017 - 5:59:38 PM

File

cable_eucomes_2012.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00987425, version 1

Citation

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⟩

Share

Metrics

Record views

575

Files downloads

354