Analysis and Optimization of Actuator Forces in Hybrid Cable-driven Manipulators
نویسنده
چکیده
This study discusses the force analysis of hybrid cable driven manipulators having both cables and rigid links with actuators installed on both of them. It is desired to operate the manipulator with minimum actuation forces to minimize cable elongation and reduce the operational cost. A minimization procedure is discussed here based on Dykstra’s algorithm to minimize the 2-norm of the actuators forces. This procedure was implemented on an example 3-DOF manipulator with two redundant actuators.
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