Abstract
This paper introduces a novel family of robots that consist of cablesuspended bodies whose motion is not fully constrained. The robots are underactuated and exhibit a pendulum-like behavior. Based on the dynamicmodel, a technique is proposed to allow the planning of point-to-point trajectories with zero-velocity landing by making the robot swing itself similarly to children on playground swings. A three-degree-of-freedom planar robot is studied as an example and a prototype of the robot and its controller are presented. Experimental results clearly demonstrate the effectiveness of the proposed control technique. Underactuated cable-suspended robots have the potential to lead to low-cost solutions in applications that require the performance of point-to-point trajectories in a large workspace.
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Gosselin, C., Lefrançois, S., Zoso, N. (2010). Underactuated Cable-Driven Robots: Machine, Control and Suspended Bodies. In: Angeles, J., Boulet, B., Clark, J.J., Kövecses, J., Siddiqi, K. (eds) Brain, Body and Machine. Advances in Intelligent and Soft Computing, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16259-6_24
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DOI: https://doi.org/10.1007/978-3-642-16259-6_24
Publisher Name: Springer, Berlin, Heidelberg
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