Abstract
This chapter deals with the dynamic modeling of cable robots. Firstly, the system structure is presented. Then, models for the mechanical and electrical subsystems are introduced. Finally, results from simulation and experimental verification are presented.
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Notes
- 1.
If we use a three-parameter representation of the rotation group, we would receive a system of ordinary differential equations of second order instead at the cost of artificial singular configurations.
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Pott, A. (2018). Dynamics. In: Cable-Driven Parallel Robots. Springer Tracts in Advanced Robotics, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-319-76138-1_6
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DOI: https://doi.org/10.1007/978-3-319-76138-1_6
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Publisher Name: Springer, Cham
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Online ISBN: 978-3-319-76138-1
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