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Path planning of cable-driven parallel robots (CDPRs) is a challenging task due to cables which may cause various collisions. In this paper, three steps are suggested to perform path finding of CDPRs in cluttered environments. First, a way to visualize the cable collision of CDPRs is suggested to consider actual workspace of CDPRs. Second, a path finding algorithm based on rapidly exploring random...
Cable-driven parallel robot (CDPR) is one of robots hard to dealing with because of their nonlinear characteristics based on the elasticity of cables. This paper suggests a design of sliding-mode controller as a solution to control the over-constrained planar CDPR with consideration of cable stiffness and motor dynamics. The system model has 4 elastic cables with linear stiffness force and motor dynamics...
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