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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Vydané v:	IEEE/ASME transactions on mechatronics Ročník 26; číslo 5; s. 2396 - 2407
Hlavní autori:	Zhang, Bin, Shang, Weiwei, Cong, Shuang, Li, Zhijun
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	New York IEEE 01.10.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	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
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