Human-cable collision detection with a cable-driven parallel robot

This paper deals with human-cable collision detection a Cable-Driven Parallel Robot (CDPR) and control strategy to safely release the tension in cable contact human operator. The main purpose of this work is contribute development safety solutions allowing collaborative between robot CDPRs production tasks. Using geometric model deformations under an external collision, direct relationship established initial tension, force increase tension. validated experimentally ad-hoc test bench. Collision levels are set admissible values order prevent harm for operators. A then implemented on 8-cable suspended CDPR CRAFT prototype using method, continuously comparing tensions measured by sensors increases. these results, approach aiming at releasing collided so as minimize risks operators environment proposed adaptive scheme, based progressive management once detected. simulated represented null space wrench matrix. Feasibility domain alternative outside it also discussed. contributes determining event introducing method.