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 esta...

It has been nearly 60 years since the introduction of Gough–Stewart manipulator (GSM). With advantages superior load capacity and high precision, GSM still plays an important role in many fields. However, limitations such as a small workspace complex singularities. To overcome these problems, novel kinematically redundant parallel robot is designed with three actuators added on basis GSM. First...