A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots
نویسندگان
چکیده
We are considering cable-driven parallel robot (CDPR), where the legs of constituted cables that can be independently coiled/uncoiled. show whatever size CDPR is we may have slack so using a sagging cable model takes into account both mass and elasticity will improve positioning accuracy. Being able to solve inverse direct kinematics (IK/DK) with crucial for kinematic analysis while being quite complex as IK/DK multiple solutions. present panorama solving methods their advantages drawbacks.
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ژورنال
عنوان ژورنال: Springer proceedings in advanced robotics
سال: 2022
ISSN: ['2511-1256', '2511-1264']
DOI: https://doi.org/10.1007/978-3-031-08140-8_14