Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure

Abstract : This paper studies how emergencies and failures can be managed in cable-driven parallel robots, in particular in the case of a redundant cable-suspended robot subjected to a cable breakdown. The objective is to present and test via numerical simulation the feasibility of an emergency strategy that allows the robot platform to be dynamically recovered to a safe position. Preliminary results, based on a simplified robot with a point-mass platform suspended by 4 cables, show that the proposed strategy may be an effective way to guide the platform from an unstable pose determined by the cable failure to a new static equilibrium pose.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01830286
Contributor : Marc Gouttefarde <>
Submitted on : Wednesday, July 4, 2018 - 6:42:49 PM
Last modification on : Friday, May 17, 2019 - 3:37:03 PM

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Berti Allessando, Marc Gouttefarde, Marco Carricato. Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure. Advances in Robot Kinematics 2016, 4, pp.331-339, 2018, Springer Proceedings in Advanced Robotics (SPAR), 978-3-319-56801-0. ⟨10.1007/978-3-319-56802-7_35⟩. ⟨https://www-sop.inria.fr/hephaistos/Congress/ARK2016/⟩. ⟨lirmm-01830286⟩

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