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International Journal of Control, Automation and Systems, 2020
Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a ...
Hongseok Choi +6 more
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Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a ...
Hongseok Choi +6 more
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Variable-Structure Cable-Driven Parallel Robots
2021Cable-driven parallel robots (CDPR) have seen great advances over the past two decades; however, they remain plagued by their inability to cover non-convex installation-spaces and low workspace to installation-space ratios relative to their rigid counterparts.
Mitchell Rushton, Amir Khajepour
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Interference Determination for Parallel Cable-Driven Robots
Advanced Materials Research, 2011This paper develops an approach to overcome the misjudgment and omission problems of determining interference for parallel cable-driven robots, which is essential to clear interference classification in the first place. According to the clear classification, interference condition between a cable and a cable or a cable and an edge of the end-effector ...
Yu Su, Jian Wei Mi, Yuan Ying Qiu
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Energy efficiency of cable-driven parallel robots
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016Cable-driven parallel robots, hereinafter referred to as cable robots, use cables to manipulate a mobile platform with 6 DOF. Cable robots have a low moved mass, as the winches with the servo drives are fixed to the machine frame and light weight synthetic fiber cables can be used.
Kraus, Werner +2 more
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Adaptive control for cable driven parallel robots
2017 17th International Conference on Control, Automation and Systems (ICCAS), 2017CDPR(Cable Driven Parallel Robot) is flexible robot system that can be applied to various environment and energy effective system. Because the rigid actuators of the conventional robots are changed into cables. Cable can generate only tensile force and has nonlinear features, such as nonlinear stiffness, hysteresis, creep, and so on, so it occurs ...
Jonghyun Yoon +3 more
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On the forward kinematics of cable-driven parallel robots
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015Most cable-driven parallel robots are kinematically over-constrained mechanisms. This results in a non-trivial computation of the forward kinematic transformation. It is well known that the forward kinematics of parallel robots may have multiple solutions and in general the convergence of numerical methods is unknown.
Pott, Andreas, Schmidt, Valentin
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Dynamic analysis of electrohydraulic cable-driven parallel robots
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2018Dynamic analysis is required for achieving higher efficiency of cable-driven parallel robots. This paper presents the dynamic analysis of the cable-driven parallel robots using the Lagrange’s method, taking cable’s mass and elasticity into account.
Zemichael Amare +3 more
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Stability Analysis of Underconstrained Cable-Driven Parallel Robots
IEEE Transactions on Robotics, 2013no ...
CARRICATO, MARCO, Merlet J. P.
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Autocalibration Subsystem for Cable-Driven Parallel Robots
2020For Cable-Driven Parallel Robots, the cable length is the only element we control. Better knowledge of this parameter will improve robot performances. We propose a new cable length autocalibration subsystem. It consists of an instrumented cable, inductive sensors and a controller for digital data processing.
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