Cable Suspended Robots: Design, Planning and Control

@inproceedings{Alp2002CableSR,
  title={Cable Suspended Robots: Design, Planning and Control},
  author={Abdullah B. Alp and Sunil Kumar Agrawal},
  booktitle={ICRA},
  year={2002}
}
Cable-suspended robots are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the end-eflector but not push it. This feature makes design, planning, and control of cable-suspended robots a lot more challenging compared to their counterparts parallel-actuated robots. This paper describes kinematic and dynamic models, workspace, trajectory planning, and feedback controllers f o r these robots. These results are demonstrated through… CONTINUE READING
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