Abstract
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.
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Acknowledgements
This work was supported in part by the French National Research Agency (ANR) under grant 2009-SEGI-018 (CoGiRo ANR project) and in part by the Région Languedoc-Roussillon under grant 115217.
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Sandretto, J.A.d., Trombettoni, G., Daney, D. (2013). Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots. In: Viadero, F., Ceccarelli, M. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4902-3_9
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DOI: https://doi.org/10.1007/978-94-007-4902-3_9
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