TY - GEN
T1 - Confirmation of hypothesis on cable properties for cable-driven robots
AU - Dit Sandretto, Julien Alexandre
AU - Trombettoni, Gilles
AU - Daney, David
PY - 2013/1/1
Y1 - 2013/1/1
N2 - In the cable-driven robot studies, the mass and the elasticity of cables are often neglected, particularly for small-sized robots. Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration. We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration.
AB - In the cable-driven robot studies, the mass and the elasticity of cables are often neglected, particularly for small-sized robots. Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration. We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration.
KW - Cable-driven robot
KW - Interval analysis
U2 - 10.1007/978-94-007-4902-3_9
DO - 10.1007/978-94-007-4902-3_9
M3 - Conference contribution
AN - SCOPUS:84896652829
SN - 9789400749016
T3 - Mechanisms and Machine Science
SP - 85
EP - 93
BT - New Trends in Mechanism and Machine Science
PB - Kluwer Academic Publishers
T2 - 4th European Conference on Mechanism Science, EUCOMES 2012
Y2 - 18 September 2012 through 22 September 2012
ER -