Abstract
This paper presents a predictor-corrector-scheme for determination of a geometry for a cable-driven parallel robot (short: cable robot) for In-Operation-Reconfiguration. The prediction step calculates a guess for the geometry, by determining a transformation of the robot based on a simple workspace abstraction. By using the prediction as initial values, the correction step determines the final set of reconfigurable parameters by constraint optimization, such that, the robot fulfils the requirements sufficiently. The approach considers a spatial cuboid as requirement and takes into the robot properties of cable forces, platform velocities and acting platform wrenches. Conclusively, the method is validated by a simulative scenario, where the numerical properties are evaluated and additionally, practical reconfiguration experiments (according to ISO 9283) to investigate the suitability of the general planning approach. The results show on the one hand that the suitability to rapidly determine a suitable robot’s geometry and on the other hand the feasibility for real reconfiguration planning.
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Acknowledgements
This work was partially supported by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Germany’s Excellence Strategy - EXC 2120/1 - 390831618 and the project grant 317440765.
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Trautwein, F., Reichenbach, T., Pott, A., Verl, A. (2023). A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots. In: Caro, S., Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2023. Mechanisms and Machine Science, vol 132. Springer, Cham. https://doi.org/10.1007/978-3-031-32322-5_21
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