Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo)

Micaël Michelin 1 Cédric Baradat 1 Dinh Quan Nguyen 2 Marc Gouttefarde 2
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : We present in this paper the process allowing to create a cable-driven parallel robot (CDPR) simulation within the XDE software environment in C++ language. The elementary classes constituting a CDPR are shown with their constructor specificities. The winches, the pulleys, the cable fastenings and the platform are presented. The parameterization of elements such as the cable material characteristics, structure and size are detailed. An interface between the XDE cable-driven parallel robot simulator and a Matlab/Simulink controller have been developed. Inputs and outputs are exchanged between the controller and the simulated cable-driven robot, exactly as it is done with a physical robot.
Type de document :
Communication dans un congrès
CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. Proceedings of the Second International Conference on Cable-Driven Parallel Robots, Part. I, 32, pp.71-83, 2014, Mechanisms and Machine Science. 〈10.1007/978-3-319-09489-2_6〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01221406
Contributeur : Marc Gouttefarde <>
Soumis le : mercredi 28 octobre 2015 - 01:04:57
Dernière modification le : jeudi 24 mai 2018 - 15:59:21

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Micaël Michelin, Cédric Baradat, Dinh Quan Nguyen, Marc Gouttefarde. Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo). CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. Proceedings of the Second International Conference on Cable-Driven Parallel Robots, Part. I, 32, pp.71-83, 2014, Mechanisms and Machine Science. 〈10.1007/978-3-319-09489-2_6〉. 〈lirmm-01221406〉

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