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Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot

Abstract : In the context of applications requiring large workspace such as painting of airliners, a cable-driven parallel robot (CDPR) having a manipulator (robot arm) on-board its mobile platform possesses an interesting potential. Such a robotic system has typically more than six degrees of freedom (DOFs) and, hence, more than the minimum required to accomplish a task in Cartesian space. In particular, a robotic system consisting of a six-DOF cable-driven parallel robot whose mobile platform is equipped with a seven-DOF manipulator is considered in this paper. This robotic system being kinematically redundant, a redundancy resolution scheme is used to allow its end-effector to follow a relatively complex path in Cartesian space while avoiding cable collisions and satisfying some constraints on the CDPR workspace.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-03409481
Contributor : Marc Gouttefarde-Tanich Connect in order to contact the contributor
Submitted on : Friday, October 29, 2021 - 5:01:00 PM
Last modification on : Saturday, November 6, 2021 - 4:22:13 AM

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Micaël Michelin, Pierre-Elie Hervé, Olivier Tempier, Jean-Baptiste Izard, Marc Gouttefarde. Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot. 5th International Conference on Cable-Driven Parallel Robots (CableCon 2021), Jul 2021, Virtual, France. pp.323-335, ⟨10.1007/978-3-030-75789-2_26⟩. ⟨lirmm-03409481⟩

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