Dynamic Analysis and Control of Cable Driven Robots with Elastic Cables

  title={Dynamic Analysis and Control of Cable Driven Robots with Elastic Cables},
  author={Mohammad A. Khosravi and Hamid D. Taghirad},
In this paper modeling and control of cable driven redundant parallel manipulators with flexible cables, are studied in detail. Based on new results, in fully constrained cable robots, cables can be modeled as axial linear springs. Considering this assumption the system dynamics formulation is developed using Lagrange approach. Since in this class of robots, all the cables should remain in tension for the whole workspace, the notion of internal forces are introduced and incorporated in the… CONTINUE READING
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