Improving Disturbance Rejection and Dynamics of Cable Driven Parallel Robots with On-board Propellers
Imane Khayour,Loïc Cuvillon,Côme Butin,Arda Yiğit,Sylvain Durand,Jacques Gangloff,Imane Khayour,Loïc Cuvillon,Côme Butin,Arda Yiğit,Sylvain Durand,Jacques Gangloff
This work studies redundant actuation for both trajectory tracking and disturbance rejection on flexible cable-driven parallel robots (CDPR). High dynamics/bandwidth unidirectional force generators, like air propellers, are used in combination with conventional but slower cable winding winches. To optimally balance the action of the two types of actuation within their saturation constraints, a mod...
