Abstract
To operate and control a cable-driven parallel robot in practice one has to solve the kinematic transformation in real-time. Therefore, an algorithm is needed which can find a solution within a strictly bounded time period. Since no closed-form solution is known for parallel robots of general geometry, a combination of interval techniques and an iterative solver is proposed and implemented into the real-time control of a cable robot. Experimental results with the cable robot IPAnema are presented.
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Pott, A. (2010). An Algorithm for Real-Time Forward Kinematics of Cable-Driven Parallel Robots. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_57
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DOI: https://doi.org/10.1007/978-90-481-9262-5_57
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