Cable-Driven Parallel Robot simulation using Gazebo and ROS

Abstract : In this paper, we present a simulator that has been developed using Gazebo and ROS to study cable-driven parallel robots. Real-time dynamic simulation of such robots is an efficient approach to develop new control laws that may integrate various sensors. The limitations of Gazebo are dealt with, as we model the cables under tension as mass-less U − P − S links with the prismatic joint actuated. We illustrate the proposed simulator with a dynamic controller, detailing the tension distribution and performing various trajectories.
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Submitted on : Tuesday, April 3, 2018 - 4:54:53 PM
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  • HAL Id : hal-01757531, version 1

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Franklin Okoli, Yuchuan Lang, Olivier Kermorgant, Stéphane Caro. Cable-Driven Parallel Robot simulation using Gazebo and ROS. The 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Jun 2018, Rennes, France. ⟨hal-01757531⟩

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