An Elastic Cable Model for Cable-Driven Parallel Robots Including Hysteresis Effects
نویسندگان
چکیده
Experimental results indicate that time invariant linear elastic models for cable-driven parallel robots show a significant error in the force prediction during operation. This paper proposes the use of an extended model for polymer cables which allows to regard the hysteresis effects depending on the excitation amplitude, frequency, and initial tension level. The experimental design as well as the parameter identification are regarded.
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