Results 191 to 200 of about 53,804 (255)

On the forward kinematics of cable-driven parallel robots

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
Most 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.
Andreas Pott, Valentin Schmidt
openaire   +1 more source

Exact Kinematic Modeling and Identification of Reconfigurable Cable-Driven Robots With Dual-Pulley Cable Guiding Mechanisms

IEEE/ASME transactions on mechatronics, 2019
Cable guiding mechanisms (CGMs) directly influence the reconfigurability of cable-driven parallel robots (CDPRs). But due to the complicated kinematic model of pulley-based CGMs, the velocity and acceleration mappings from the moving platform (MP) to the
Hongbo Wang, J. Kinugawa, K. Kosuge
semanticscholar   +1 more source

Stabilization of Cable Driven Robots Using Interconnection Matrix: Ensuring Positive Tension

International Conference on Robotics and Mechatronics, 2019
Cable driven parallel robots are closed-loop kinematic chains, where the end-effector is attached to the base by a number of cables. Because of the nature of cables, a major issue in control of these robots is ensuring positive tensions.
M. R. J. Harandi, S. A. Khalilpour, H. Damirchi, H. Taghirad   +3 more
semanticscholar   +1 more source

Morphology and Tension Perception of Cable-Driven Continuum Robots

IEEE/ASME transactions on mechatronics, 2023
The operation and control of the cable-driven continuum robot (CDCR) is directly determined by the actuation of cables, and the relationship between the driving length and the tension as well as the morphology of the CDCR has not been deeply researched ...
Zhongzhen Liu, Zhiqin Cai, Haijun Peng, Xingang Zhang, Zhigang Wu   +4 more
semanticscholar   +1 more source

Deep Reinforcement Learning Control of Fully-Constrained Cable-Driven Parallel Robots

IEEE transactions on industrial electronics (1982. Print), 2023
Cable-driven parallel robots (CDPRs) have complex cable dynamics and working environment uncertainties, which bring challenges to the precise control of CDPRs.
Yanqi Lu, Chengwei Wu, Weiran Yao, Guanghui Sun, Jianxing Liu, Ligang Wu   +5 more
semanticscholar   +1 more source

Wrench-based analysis of cable-driven robots

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004
This paper introduces the available net wrench set, which is the set of all wrenches that a cable robot can apply to its surroundings without violating tension limits in the cables. This set is used as a framework for understanding and computing wrench-feasibility of a pose of the robot, allowing wrench-feasibility to be tested in the task space.
Paul Bosscher, Imme Ebert-Uphoff
openaire   +1 more source

Dynamic Obstacle Avoidance for Cable-Driven Parallel Robots With Mobile Bases via Sim-to-Real Reinforcement Learning

IEEE Robotics and Automation Letters, 2023
A Cable-Driven Parallel Robot (CDPR) with Mobile Bases (MBs) can modify its geometric architecture and is suitable for manipulation tasks in constrained environments.
Yuming Liu, Z.-L. Cao, Hao Xiong, Junfeng Du, Huanhui Cao, Lin Zhang   +5 more
semanticscholar   +1 more source

A cable driven parallel robot for coconut farm

2017 International Conference on Advances in Computing, Communications and Informatics (ICACCI), 2017
This paper presents a cable driven parallel robot for automating the process of coconut dehusking in large and medium sized farms. The robot assists the mechanized dehusking process by performing the activity of fetching coconuts from a heap and autonomously loading them into a dehusking machine's hopper.
Thejas Narayanan, Rajendran S. Vishnu, Rao R. Bhavani, Vineet Vashista   +3 more
openaire   +1 more source

A stability measure for underconstrained cable-driven robots

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004
This paper introduces a slope-based measure of the stability of a pose of an underconstrained cable robot. In order to define this measure, the set of twists that the end-effector can instantaneously undergo is found. The measure is then derived using an energy-based approach to generalize the definition of slope for mixed-dimensional twists.
Paul Bosscher, Imme Ebert-Uphoff
openaire   +1 more source

Deflection Maps of Elastic Catenary Cable-Driven Robots

Volume 5B: 43rd Mechanisms and Robotics Conference, 2019
In this paper, the cable tension and platform deflection of cable-robots are investigated. The significance of cable density, elasticity and cross-sectional area; platform mass, radius and center of mass; external wrench and platform orientation on the
L. Notash
semanticscholar   +1 more source