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Tendon-based parallel manipulators with n d.o.f. use at least m = n + 1 tendons to guide the end effector along a given trajectory. Since tendons can only transmit limited and tractive forces, it is essential to apply a valid tendon force distribution. Due to safety and precision requirements, a combined position and force control is needed where the force(More)
Completely and redundantly restraint tendon-based Stewart platforms demand for an appropriate distribution of tendon forces to control the platform on a given trajectory. Thus, position control has to be extended by a tendon force controller which generates continuous and feasible force values. The computation of such force distributions can be formulated(More)
Tendon-based Stewart platforms are capable of high speeds and accelerations. Thus, a reliable controller running with a high frequency is required. Here, an implementation based on a modular controller architecture is shown. To control the platform on a given trajectory, the implemented position control has to be extended by a tendon force control which(More)
The aim of this paper is to investigate possibilities for controlling a four-legged walking robot (ALDURO) with a force feedback joystick. A way to filter motion induced errors out of the input data is shown, as well as ways to prevent them by using force feedback. Force feedback can also be used to supply the operator with information about the workspace(More)
Conventional automated storage and retrieval systems (AS/RS) are widely used to realize an efficient infrastructure for large warehouses. Nevertheless, they require a lot of energy when performing the storage of goods in high racks. This paper presents a new AS/RS type based on a wire robot technology which is very lightweight and therefore capable for huge(More)
Redundancy resolution of redundantly actuated cable-driven parallel robots (CDPRs) requires the computation of feasible and continuous cable tension distributions along a trajectory. This paper focuses on n-DOF CDPRs driven by n + 2 cables, since, for n = 6, these redundantly actuated CDPRs are relevant in many applications. The set of feasible cable(More)
Despite a high potential to improve the productivity, quality and safety and also to reduce costs, automated technologies are not widely spread in the construction sector. This paper presents a simulation-based approach to analyze the technical and economic feasibility of wire robots for automated construction in future investigations. Masonry buildings are(More)
This paper explores the feasibility of cable-driven actuators in combination with the lightweight skeleton structure of the humanoid robot HUMECH. At the beginning the setup of the robot prototype is described in detail followed by a Dymola<sup>&#x00AE;</sup> simulation model of the cable-driven actuators. However, the load and dynamic motion behavior of(More)
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