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Conventionally, a cable driven parallel mechanism (CDPM) pose is obtained through the forward kinematics from measurements of the cable lengths. However, this estimation method can be limiting for some applications requiring more precision. This paper proposes to use cable angle position sensors in addition to cable length measurements in order to improve the accuracy of such mechanisms. The robot...
One of the main concerns in the control of over-constrained cable driven parallel mechanisms is the handling of the tension distribution, which is crucial to the proper mechanism behaviour. For example, it dictates the power consumption and stiffness of the mechanism. One problem that remains to be addressed is the handling of cable tensions when the end-effector moves beyond its wrench-feasible workspace,...
This paper presents a cable-driven parallel mechanism as a haptic interface and its underlying control method. This human-sized, three-degree-of-freedom mechanism has a tetrahedral architecture, four cables and evolves in three-dimensional space. A brief review of the kinematics of the mechanism is presented. Also, an admittance control law coupled with a closed-loop velocity controller is proposed...
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