Model Predictive Control of Cable-Driven Parallel Robot with Cable Sagging: an Assumed Mode Approach

Cable-Driven Parallel Robots (CDPRs) are a type of parallel robots that uses cables to position a moving platform inside its workspace. The cables offer many advantages from an operational point of view, from increasing the size of the workspace to handling heavy loads. However, they raise an issue...

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Bibliographic Details

Published in:	International Conference on System Theory, Control and Computing pp. 533 - 538
Main Authors:	Moussa, Karim, Vie, Antoine, Thieffry, Maxime, Claveau, Fabien, Chevrel, Philippe
Format:	Conference Proceeding
Language:	English
Published:	IEEE 10.10.2024
Subjects:	Assumed Mode Approach Cable Sagging Cables CDPR Computational modeling Control systems Load modeling Model Predictive Control Parallel robots Predictive control Predictive models Three-dimensional displays Tuning
ISSN:	2473-5698
Online Access:	Get full text
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