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A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics

João Cavalcanti Santos 1 Marc Gouttefarde 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : A real-time capable Forward Kinematics (FK) algorithm for Cable-Driven Parallel Robots (CDPRs) considering the pulley kinematics is proposed. The algorithm applies iteratively QR decomposition to solve a linearized version of the least squares problem representing the FK. Differential kinematics delivers an analytical expression for the Jacobian matrix of CDPRs considering the pulley kinematics. This Jacobian matrix is used to construct the linearization of the FK problem. Experimental results indicate that the proposed algorithm presents good convergence.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-02749091
Contributor : João Cavalcanti Santos <>
Submitted on : Sunday, June 7, 2020 - 11:39:21 AM
Last modification on : Tuesday, June 9, 2020 - 9:16:45 AM

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João Cavalcanti Santos, Marc Gouttefarde. A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics. 17th International Symposium Advances in Robot Kinematics (ARK), Jun 2020, Ljubljana, Slovenia. ⟨lirmm-02749091⟩

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