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Generation of feasible set points and control of a cable robot

✍ Scribed by So-Ryeok Oh, ; Agrawal, S.K.


Book ID
121712276
Publisher
IEEE
Year
2006
Tongue
English
Weight
836 KB
Volume
22
Category
Article
ISSN
1552-3098

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This paper presents a new geometry-based method to determine if a cable-driven robot operating in a d-degree-of-freedom workspace (2≀d≀6) with nβ‰₯d cables can generate a given set of wrenches in a given pose, considering acceptable minimum and maximum tensions in the cables. To this end, the fundamen