Abstract
This chapter deals with the kinematic transformation and its derivatives for the standard model. Then, singularities are introduced for cable robots. An overview of kinematic codes is given and algorithms for real-time capable codes are proposed.
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Notes
- 1.
More precisely, the solution is only unique if we ignore the solutions that provide a negative length for the cable which is considered to be infeasible from a physical point of view.
- 2.
Computation time determined on an Intel Core i5-3320M 2.6 GHz, Microsoft Visual C\(++\) 2010.
- 3.
At least, the author is not aware of a use-case.
- 4.
More precisely speaking, such robots are always in operation with a constantly applied external wrench that is independent from the platform pose. Similarly, one can add springs to the robot in order to create a pose-dependent artificial potential field as studied by Duan [131].
- 5.
Note that the indices 1, 2, 3 in this section relate to the three winches chosen with the common point B on the platform. Without loss of generality, one can renumber the winches so that the first three have the common point on the platform.
- 6.
For comparison, a computation time of 47 \(\upmu \)s was determined on a more recent Core i5-3320M with 2.6 GHz.
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Pott, A. (2018). Kinematic Codes. In: Cable-Driven Parallel Robots. Springer Tracts in Advanced Robotics, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-319-76138-1_4
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DOI: https://doi.org/10.1007/978-3-319-76138-1_4
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Publisher Name: Springer, Cham
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Online ISBN: 978-3-319-76138-1
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