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Advances in Robot Kinematics pp 203–211Cite as

Analysis of Geometrical Force Calculation Algorithms for Cable-Driven Parallel Robots with a Threefold Redundancy

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Abstract

In this chapter geometrical force calculation algorithms, namely the Barycentric Approach, the Weighted Average Approach, the Corner Projection Method, the Closed Form Method and the Puncture Method are discussed. The last four were implemented for a threefold redundancy and their performance regarding their practical applicability is investigated. The analysis includes the covered workspace, the characteristics of the resulting cable forces, the needed computation time and the adaptability to varying degrees of redundancy.

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References

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Acknowledgments

The research leading to these results has received funding from the European Community’s Seventh Framework Programme under grant agreement No. NMP2-SL-2011-285404 (CableBOT).

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Authors and Affiliations

  1. Chair of Mechatronics, University Duisburg-Essen, Essen, Germany

    Katharina Müller, Christopher Reichert & Tobias Bruckmann

Authors
  1. Katharina Müller
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  2. Christopher Reichert
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  3. Tobias Bruckmann
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Corresponding author

Correspondence to Katharina Müller .

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Editors and Affiliations

  1. J. Stefan Institute, Ljubljana-Vic-Rudnik, Slovenia

    Jadran Lenarčič

  2. Department of Computer Science Artificial Intelligence Laboratory, Stanford University, Stanford, California, USA

    Oussama Khatib

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Müller, K., Reichert, C., Bruckmann, T. (2014). Analysis of Geometrical Force Calculation Algorithms for Cable-Driven Parallel Robots with a Threefold Redundancy. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_22

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  • DOI: https://doi.org/10.1007/978-3-319-06698-1_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-06697-4

  • Online ISBN: 978-3-319-06698-1

  • eBook Packages: EngineeringEngineering (R0)

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