Redundancy Resolution Integrated Model Predictive Control of CDPRs: Concept, Implementation and Experiments
Joao C. Santos,Ahmed Chemori,Marc Gouttefarde,Joao C. Santos,Ahmed Chemori,Marc Gouttefarde
This paper introduces a Model Predictive Control (MPC) strategy for fully-constrained Cable-Driven Parallel Robots. The main advantage of the proposed scheme lies in its ability to explicitly handle cable tension limits. Indeed, the cable tension distribution is performed as an integral part of the main control architecture. This characteristic significantly improves the safety of the system. Expe...
