Pierre-Elie Herve

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Cable-driven parallel robots (CDPR) are efficient manipulators able to carry heavy payloads across large workspaces. Therefore, the dynamic parameters such as the mobile platform mass and center of mass location may considerably vary. Without any adaption, the erroneous parametric estimate results in mismatch terms added to the closed-loop system, which may(More)
Model based open-loop and closed-loop control systems make use of the system's inertial parameters. Unfortunately, not all of these values can be determined analytically nor can they be obtained from simple measurements. Established experiments for inertial parameters estimation have been applied to serial and parallel rigid-link manipulators, yet in very(More)
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