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Journal articles
Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches
Abstract : An alternative approach to standard computed torque with feedback linearization is proposed in this paper to control cable-driven parallel robots (CDPRs) with highly flexible cables. Exteroceptive feedback is used to measure the end-effector Cartesian position at a high sampling rate. Stability is demonstrated using singular perturbation theory. The proposed control scheme is experimentally validated on a planar 3-degree-of-freedom CDPR and its efficiency is assessed by comparison with a simple kinematic control law.
Cited literature [36 references]
https://hal-lirmm.ccsd.cnrs.fr/lirmm-02087410
Contributor : Marc Gouttefarde-Tanich Connect in order to contact the contributor
Submitted on : Monday, December 2, 2019 - 2:11:02 PM
Last modification on : Wednesday, December 1, 2021 - 3:32:12 PM
Long-term archiving on: : Tuesday, March 3, 2020 - 9:01:15 PM
Contributor : Marc Gouttefarde-Tanich Connect in order to contact the contributor
Submitted on : Monday, December 2, 2019 - 2:11:02 PM
Last modification on : Wednesday, December 1, 2021 - 3:32:12 PM
Long-term archiving on: : Tuesday, March 3, 2020 - 9:01:15 PM
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Dynamic Control of Parallel Ro...
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