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Hier finden Sie wissenschaftliche Publikationen aus den FraunhoferInstituten. An improved force distribution algorithm for overconstrained cabledriven parallel robots
 Thomas, F.: Computational kinematics. 6th International Workshop on Computational Kinematics, CK 2013. Proceedings : Barcelona, 12 to 15, May 2013 Dordrecht: Springer Science+Business Media, 2014 (Mechanisms and Machine Science 15) ISBN: 9789400772137 (Print) ISBN: 9789400772144 (Online) ISBN: 9400772130 pp.139146 
 International Workshop on Computational Kinematics (CK) <6, 2013, Barcelona> 
 European Commission EC FP7FP72011NMPICTFoF; 285404 Parallel Cable Robotics for Improving Maintenance and Logistics of LargeScale Products 

 English 
 Conference Paper 
 Fraunhofer IPA () 
 IPAnema; real time control; cabledriven parallel robot; Statik; Seilroboter; paralleler Seilroboter 
Abstract
In this paper we present an improved method to compute force distributions for cabledriven parallel robots. We modify the closedfrom solution such that the region where a solution is found is extended almost to the theoretical maximum, i.e. the wrenchfeasible workspace. At the same time continuity along trajectories as well as realtime efficiency are maintained. The algorithm's complexity and thus the computational burden scales linearly in the number of redundant cables. Therefore, the algorithm can also be used for highly redundant cable robots. The proposed algorithm is compared to known methods and computational results are presented based on the IPAnema prototype.