Coordinated Dynamic Control in the Task Space for Redundantly Actuated Cable-Driven Parallel Robots

Although cable-driven parallel robots (CDPRs) act as parallel mechanisms that are driven by multiple cables coordinately, the coordination motion analysis is often omitted. Therefore, the coordination effect in the task space (TS) of redundantly actuated CDPRs is addressed in this article, and a sch...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics Jg. 26; H. 5; S. 2396 - 2407
Hauptverfasser:	Zhang, Bin, Shang, Weiwei, Cong, Shuang, Li, Zhijun
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.10.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Actuation Aerospace electronics Cable robot Cables Control stability coordinated control Coordination Disturbances Dynamic control Kinematics motion control parallel robot Power cables Redundancy Robot kinematics Robots Robustness Stability analysis Synchronization Task analysis Task space Tracking
ISSN:	1083-4435, 1941-014X
Online-Zugang:	Volltext
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