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Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency

Abstract

In this article, we present a novel method for force allocation for overconstrained cable-driven parallel robot setups that guarantees continuously differentiable cable forces and allows for small penalized errors in the resulting wrench. For the latter, we also provide a bound on the error under some assumptions. We study real-time feasibility by performing numerical simulations on a large set of configurations.
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Category

Academic article

Language

English

Author(s)

Affiliation

  • SINTEF Ocean / Skip og havkonstruksjoner
  • Norwegian University of Science and Technology

Year

2020

Published in

IEEE Transactions on Robotics

ISSN

1552-3098

Volume

37

Issue

2

Page(s)

659 - 666

View this publication at Norwegian Research Information Repository