Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots

  title={Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots},
  author={Julien Alexandre Dit Sandretto and Gilles Trombettoni and David Daney},
In the cable-driven robot studies, the mass and the elasticity of cables are often neglected, particularly for small-sized robots. Indeed, this assumption is interesting to simplify the robot model, and consequently it is used in control, design or calibration. We propose in this paper a method using Interval Analysis to judge the validity of this hypothesis in a given workspace, according to the cable characteristics, i.e., the applied tensions and the robot configuration. 

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