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In a cable-driven parallel robot, elastic cables are used to manipulate the end effector in the workspace. In this paper we present a dynamic analysis and system identification for the complete actuator unit of a cable robot including servo controller, winch, cable, cable force sensor and field bus communication. We establish a second-order system with dead time as an analagous model. Based on this...
In Cable-Driven parallel robots, elastic cables are used to control the movement of a platform in the workspace. The accuracy of a robot system is one of the most important comparison criteria for various applications. In this paper, we present a new approach to increase the relative accuracy of a cable robot under changing payload, by compensating the error induced by elasticity. In the first step,...
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