Continuous Tension Validation for Cable-Driven Parallel Robots
Diane Bury,Jean-Baptiste Izard,Marc Gouttefarde,Florent Lamiraux,Diane Bury,Jean-Baptiste Izard,Marc Gouttefarde,Florent Lamiraux
This paper deals with continuous tension validation for Cable-Driven Parallel Robots (CDPRs). The proposed method aims at determining whether or not a quasi-static path is feasible regarding cable tension limits. The available wrench set (AWS) is the set of wrenches that can be generated with cable tensions within given minimum and maximum limits. A pose of the robot is considered valid regarding ...
