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2010
Conference Paper
Titel
An algorithm for real-time forward kinematics of cable-driven parallel robots
Abstract
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.