Moving-Platform Pose Estimation for Cable-Driven Parallel Robots
Zane Zake,François Chaumette,Nicolò Pedemonte,Stéphane Caro,Zane Zake,François Chaumette,Nicolò Pedemonte,Stéphane Caro
Cable-Driven Parallel Robots (CDPRs) are parallel robots with rigid links replaced by cables. As for most parallel robots the determination of the analytical solutions to the direct geometrico-static model (DGSM) is a difficult task that is often not feasible online. However, the knowledge of the moving-platform (MP) pose is necessary in order to control the CDPR, e.g. with visual servoing. When t...
