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Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo)

  • Micaël MichelinEmail author
  • Cédric Baradat
  • Dinh Quan Nguyen
  • Marc Gouttefarde
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 32)

Abstract

We present in this paper the process allowing to create a cable-driven parallel robot (CDPR) simulation within the XDE software environment in C\({+}{+}\) language. The elementary classes constituting a CDPR are shown with their constructor specificities. The winches, the pulleys, the cable fastenings and the platform are presented. The parameterization of elements such as the cable material characteristics, structure and size are detailed. An interface between the XDE cable-driven parallel robot simulator and a Matlab/Simulink controller have been developed. Inputs and outputs are exchanged between the controller and the simulated cable-driven robot, exactly as it is done with a physical robot.

Keywords

Mobile Platform Linear Mass Cable Tension Platform Position Pivot Joint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Notes

Acknowledgments

The research leading to these results has received funding from the European Community’s Seventh Framework Program under grant agreement No. NMP2-SL-2011-285404 (CABLEBOT). The authors would like to thank the CEA for their support.

References

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Micaël Michelin
    • 1
    Email author
  • Cédric Baradat
    • 1
  • Dinh Quan Nguyen
    • 2
  • Marc Gouttefarde
    • 2
  1. 1.Tecnalia FranceMontpellierFrance
  2. 2.LIRMM-CNRS—UM2Montpellier Cedex 5France

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