Kinematics with Nonstandard Cable Models

  • Andreas PottEmail author
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 120)


In this chapter, we deal with the extension of the standard kinematic model by taking realistic assumptions for the cables into account. The modeling of nontrivial winch kinematics with guiding pulleys is addressed in Sect. 7.2. The consideration of cable mass leads to sagging (Sect. 7.3) and the finite stiffness of the cables causes elastic effects in the cables (Sect. 7.4).

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© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.StuttgartGermany

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