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 : Monday, December 17, 2018 - 10:50:04 AM

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Berti Allessando, Marc Gouttefarde, Marco Carricato. Dynamic recovery of cable-suspended parallel robots after a cable failure. ARK: Advances in Robot Kinematics, Jun 2016, Grasse, France. ⟨10.1007/978-3-319-56802-7_35⟩. ⟨lirmm-01830286⟩

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