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Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo)

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Cable-Driven Parallel Robots

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 32))

Abstract

We present in this paper the process allowing to create a cable-driven parallel robot (CDPR) simulation within the XDE software environment in C\({+}{+}\) language. The elementary classes constituting a CDPR are shown with their constructor specificities. The winches, the pulleys, the cable fastenings and the platform are presented. The parameterization of elements such as the cable material characteristics, structure and size are detailed. An interface between the XDE cable-driven parallel robot simulator and a Matlab/Simulink controller have been developed. Inputs and outputs are exchanged between the controller and the simulated cable-driven robot, exactly as it is done with a physical robot.

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Acknowledgments

The research leading to these results has received funding from the European Community’s Seventh Framework Program under grant agreement No. NMP2-SL-2011-285404 (CABLEBOT). The authors would like to thank the CEA for their support.

Author information

Authors and Affiliations

  1. Tecnalia France, MIBI, 672 rue du Mas de Verchant, 34000, Montpellier, France

    Micaël Michelin & Cédric Baradat

  2. LIRMM-CNRS—UM2, 161 Rue Ada, 34095, Montpellier Cedex 5, France

    Dinh Quan Nguyen & Marc Gouttefarde

Authors
  1. Micaël Michelin
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  2. Cédric Baradat
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  3. Dinh Quan Nguyen
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  4. Marc Gouttefarde
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Corresponding author

Correspondence to Micaël Michelin .

Editor information

Editors and Affiliations

  1. Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Stuttgart, Germany

    Andreas Pott

  2. University of Duisburg-Essen, Duisburg, Germany

    Tobias Bruckmann

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© 2015 Springer International Publishing Switzerland

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Cite this paper

Michelin, M., Baradat, C., Nguyen, D.Q., Gouttefarde, M. (2015). Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo). In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-319-09489-2_6

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  • DOI: https://doi.org/10.1007/978-3-319-09489-2_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-09488-5

  • Online ISBN: 978-3-319-09489-2

  • eBook Packages: EngineeringEngineering (R0)

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