Rapid Computation of Optimally Safe Tension Distributions for Parallel Cable-Driven Robots

In this paper, we present a novel linear-program formulation that yields "optimally safe" (OS) tension distributions in parallel cable-driven robots by the introduction of a slack variable. The slack variable also enables explicit computation of a near-optimal, feasible starting point. Thi...

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Vydáno v:	IEEE transactions on robotics Ročník 25; číslo 6; s. 1271 - 1281
Hlavní autoři:	Borgstrom, P.H., Jordan, B.L., Sukhatme, G.S., Batalin, M.A., Kaiser, W.J.
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York, NY IEEE 01.12.2009 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Applied sciences Arm Cable tension distributions Cables Computation Computational modeling Computer science; control theory; systems Computer simulation Concurrent computing Control theory. Systems Distributed computing Dynamical systems Dynamics Error correction Exact sciences and technology Formulations Linear programming Manipulator dynamics Optimization parallel cable-driven robots Parallel robots PD control redundant robots Robotics Robots Transmission line matrix methods Validity Cable parallel cable-driven robots parallel robots Redundancy Linkage mechanism Parallel mechanism Dynamical system Cable tension distributions Robotics redundant robots
ISSN:	1552-3098, 1941-0468
On-line přístup:	Získat plný text
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