On the Minimum 2-Norm Positive Tension for Wire-Actuated Parallel Manipulators
Utilizing the Moore-Penrose generalized inverse of the Jacobian matrix of wire-actuated parallel robot manipulators, one or more wire tensions could be negative. In this paper, a methodology for calculating positive wire tensions, with minimum 2-norm for tension vector, is presented. A planar parallel manipulator is simulated to illustrate the proposed methodology.
KeywordsCable-driven robots Positive wire tension Minimum 2-norm solution
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