Cable-Driven Parallel Robots (CDPRs) are overconstrained when they have more cables than the degrees of freedom of the endeffector (EE). This paper introduces a technique to analyze the wrench feasible workspace of this class of robots when a hybrid force-position control is used in joint space, namely when as many cables as the EE freedoms control the robot pose, and the remaining ones are used to keep all cables under tension.
Ida E., Zoffoli F., Carricato M. (2024). Hybrid-Control-Based Workspace Analysis of Overconstrained Cable-Driven Parallel Robots. Cham : Springer [10.1007/978-3-031-64057-5_37].
Hybrid-Control-Based Workspace Analysis of Overconstrained Cable-Driven Parallel Robots
Ida E.
;Zoffoli F.;Carricato M.
2024
Abstract
Cable-Driven Parallel Robots (CDPRs) are overconstrained when they have more cables than the degrees of freedom of the endeffector (EE). This paper introduces a technique to analyze the wrench feasible workspace of this class of robots when a hybrid force-position control is used in joint space, namely when as many cables as the EE freedoms control the robot pose, and the remaining ones are used to keep all cables under tension.File in questo prodotto:
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