A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation
نویسندگان
چکیده
منابع مشابه
a new type-ii fuzzy logic based controller for non-linear dynamical systems with application to 3-psp parallel robot
abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...
15 صفحه اولParallel Articulated-cable Exercise Robot (pacer): Novel Home-based Cable-driven Parallel Platform Robot for Upper Limb Neuro-rehabilitation
This paper examines the design, analysis and control of a novel hybrid articulated-cable parallel platform for upper limb rehabilitation in three dimensional space. The proposed lightweight, low-cost, modular reconfigurable parallel-architecture robotic device is comprised of five cables and a single linear actuator which connects a six degrees-of-freedom moving platform to a fixed base. This n...
متن کاملCalibration of a fully-constrained parallel cable-driven robot
An identi cation of the model parameters for a parallel cable-driven robot is performed by using both a calibration and a self-calibration approach. The manipulator studied is based on a parallel architecture having 8 cables to control the 6 degrees of freedom of its mobile platform so that the mobile platform is fully constrained by the cables. Under some hypotheses on cable properties, the in...
متن کاملApplication of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robots
Kinematics and dynamics of cable-driven parallel robots are affected by the cables used as force and motion transmitting elements. Flexural rigidity of these cables is of major interest to better understand dynamics of these systems and to improve their accuracy. The approach for modeling spatial cable dynamics, as presented in this paper, is based on the modified rigid-finite element method us...
متن کاملGeometrico-static Analysis of Under-constrained Cable-driven Parallel Robots
This paper studies the kinematics and statics of cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, together with a general procedure aimed at effectively solving, in analytical form, the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, fo...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Applied Sciences
سال: 2019
ISSN: 2076-3417
DOI: 10.3390/app9112182