The influence of discrete-time control on the kinematico-static behavior of cable-driven parallel robot with elastic cables

Abstract

Robots are controlled with a discrete-time controller that includes a highlevel loop for motion control and a faster internal loop that controls the actuators. We intend to simulate the behavior of the whole chain for a cable-driven parallel robot (CDPR) with linear elastic cables and we will show that such a simulation cannot be performed using classical… (More)

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