Abstract
This paper presents an algorithm to determine feasible force distributions for parallel wire robots in closed-form. The force distributions are continuous along trajectories and differentiable at most of the points. The computational efforts are strictly bounded and small even for large numbers of wires. The algorithm is compared to other approaches for calculation of force distribution in terms of the numerical effort and their applicability for control purposes.
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© 2009 Springer-Verlag Berlin Heidelberg
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Pott, A., Bruckmann, T., Mikelsons, L. (2009). Closed-form Force Distribution for Parallel Wire Robots. In: Kecskeméthy, A., Müller, A. (eds) Computational Kinematics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01947-0_4
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DOI: https://doi.org/10.1007/978-3-642-01947-0_4
Publisher Name: Springer, Berlin, Heidelberg
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