Constant Distance and Orientation Following of an Unknown Surface with a Cable-Driven Parallel Robot
Thomas Rousseau,Nicolò Pedemonte,Stéphane Caro,François Chaumette,Thomas Rousseau,Nicolò Pedemonte,Stéphane Caro,François Chaumette
Cable-Driven Parallel Robots (CDPRs) are well-adapted to large workspaces since they replace rigid links by cables. However, they lack in positioning accuracy and new control methods are necessary to achieve profile-following tasks. This paper presents a control scheme designed for these tasks, relying on a combination of accurate boarded distance sensors and of a less accurate remote camera. The ...
