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Simulation of Discrete-Time Controlled Cable-Driven Parallel Robots on a Trajectory

Jean-Pierre Merlet 1 
1 HEPHAISTOS - HExapode, PHysiologie, AssISTance et Objets de Service
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This paper addresses the simulation of the state of a discrete-time controlled cable-driven parallel robot (CDPR) with nondeformable or elastic cables over a given trajectory. Being given a CDPR, an arbitrary model for the coiling system and for the control strategy, we exhibit a simulation algorithm that allows one to determine, in a guaranteed way, the platform pose and the cable tensions at any time. We show that such a simulation may require a computing accuracy that imposes to use extended arithmetic and that discrete-time control may lead to drastic differences in the cable tensions as compared to usual continuous time simulation. Hence, the proposed simulation tool allows for a better estimation of the positioning accuracy together with safer estimation of the maximum of the cable tensions.
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Submitted on : Tuesday, November 21, 2017 - 3:28:01 PM
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Jean-Pierre Merlet. Simulation of Discrete-Time Controlled Cable-Driven Parallel Robots on a Trajectory. IEEE Transactions on Robotics, IEEE, 2017, 33 (3), pp.675 - 688. ⟨10.1109/TRO.2017.2664888⟩. ⟨hal-01643460⟩



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