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An improved force distribution algorithm for over-constrained cable-driven parallel robots

: Pott, Andreas


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: 978-94-007-7213-7 (Print)
ISBN: 978-94-007-7214-4 (Online)
ISBN: 94-007-7213-0
International Workshop on Computational Kinematics (CK) <6, 2013, Barcelona>
European Commission EC
FP7-FP7-2011-NMP-ICT-FoF; 285404
Parallel Cable Robotics for Improving Maintenance and Logistics of Large-Scale Products
Fraunhofer IPA ()
IPAnema; real time control; cable-driven parallel robot; Statik; Seilroboter; paralleler Seilroboter

In this paper we present an improved method to compute force distributions for cable-driven parallel robots. We modify the closed-from solution such that the region where a solution is found is extended almost to the theoretical maximum, i.e. the wrench-feasible workspace. At the same time continuity along trajectories as well as real-time 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.