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Direct kinematics of CDPR with extra cable orientation sensors: the 2 and 3 cables case with perfect measurement and ideal or elastic cables

Jean-Pierre Merlet 1
1 HEPHAISTOS - HExapode, PHysiologie, AssISTance et Objets de Service
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Direct kinematics (DK) of cable-driven parallel robots (CDPR) based only on cable lengths measurements is a complex issue even with ideal cables and consequently even harder for more realistic cable models. A natural way to simplify the DK solving is to add sensors. We consider here sensors that give a partial or complete measurement of the cable direction at the anchor points and spatial CDPR with 2/3 cables and we assume that these measurements are exact. We provide a solving procedure and maximal number of DK solutions for an extensive combination of sensors while considering two different cables models: ideal and linearly elastic without deformation.
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https://hal.inria.fr/hal-01643451
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Submitted on : Tuesday, November 21, 2017 - 2:14:08 PM
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Jean-Pierre Merlet. Direct kinematics of CDPR with extra cable orientation sensors: the 2 and 3 cables case with perfect measurement and ideal or elastic cables. CableCon 2017 - Third International Conference on Cable-Driven Parallel Robots, Aug 2017, Quebec, Canada. ⟨hal-01643451⟩

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