Abstract
Robots are controlled with a discrete-time controller that includes a high-level loop for motion control and a faster internal loop that controls the actuators. We intend to simulate the behavior of the whole chain for a cable-driven parallel robot (CDPR) with linear elastic cables and we will show that such a simulation cannot be performed using classical simulation tools. We exhibit a simulation algorithm which computes exactly the pose and cable tensions on a given trajectory. As an example we consider a redundantly actuated robot with 8 cables. We show that the discrete-time control has a moderate influence on the accuracy of the positioning but a very large influence on the cable tensions.
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Merlet, JP. (2014). The Influence of Discrete-Time Control on the Kinematico-Static Behavior of Cable-Driven Parallel Robot with Elastic Cables. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_13
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DOI: https://doi.org/10.1007/978-3-319-06698-1_13
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