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An algorithm for real-time forward kinematics of cable-driven parallel robots

: Pott, Andreas


Lenarcic, J. ; International Federation for the Promotion of Mechanism and Machine Science:
Advances in robot kinematics. Motion in man and machine : 12th International Symposium on Advances in Robot Kinematics, June 27 - July 1 2010, Piran-Portoroz, Slovenia
Dordrecht: Springer Science+Business Media, 2010
ISBN: 978-90-481-9261-8
ISBN: 978-90-481-9262-5
International Meeting of Advances in Robot Kinematics (ARK) <12, 2010, Piran-Portoroz>
Conference Paper
Fraunhofer IPA ()
Parallelkinematik; Seilroboter; Parallelroboter; IPAnema; Kinematik; Roboter

To operate and control a cable-driven parallel robot in practice one has to solve the kinematic transformation in real-time. Therefore, an algorithm is needed which can find a solution within a strictly bounded time period. Since no closed-form solution is known for parallel robots of general geometry, a combination of interval techniques and an iterative solver is proposed and implemented into the real-time control of a cable robot. Experimental results with the cable robot IPAnema are presented.