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Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots

Abstract : In the cable-driven robot studies, the mass and the elasticity of cables are often ne- glected, particularly for small-sized robots. Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration. We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration.
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https://hal.inria.fr/hal-00907510
Contributor : David Daney Connect in order to contact the contributor
Submitted on : Wednesday, May 26, 2021 - 12:02:11 PM
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Long-term archiving on: : Friday, August 27, 2021 - 7:16:45 PM

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Julien Alexandre Dit Sandretto, Gilles Trombettoni, David Daney. Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots. Viadero, Fernando; Ceccarelli, Marco. New Trends in Mechanism and Machine Science, Mechanisms and Machine Science (7), Springer Netherlands, pp.85-93, 2013, Theory and Applications in Engineering, 978-94-007-4901-6. ⟨10.1007/978-94-007-4902-3_9⟩. ⟨hal-00907510⟩

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