An Algorithm for Real-Time Forward Kinematics of Cable-Driven Parallel Robots

被引：52
|
作者：
Pott, Andreas [1 ]
机构：
[1] Fraunhofer Inst Mfg Engn & Automat IPA, Stuttgart, Germany
来源：
ADVANCES IN ROBOT KINEMATICS: MOTION IN MAN AND MACHINE | 2010年
关键词：
Cable-driven parallel robot; forward kinematics; controller; real-time; DESIGN;
D O I：
10.1007/978-90-481-9262-5_57
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：529 / 538
页数：10
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