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Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots

Abstract : A novel criterion is introduced in this paper to determine the set of cable tensions for Cable-Driven Parallel Robots (CDPRs) with the aim of maximizing the robot stiffness along a specific direction. Based on the feasible polygon of the CDPR and its stiffness matrix, an algorithm selects the set of admissible cable tensions leading to the smallest moving-platform displacement, the moving-platform being subject to an external wrench. The proposed tension distribution is implemented in a control scheme and experimented on a fully-constrained CDPR for a window cleaning application.
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Submitted on : Monday, March 23, 2020 - 4:37:56 PM
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Etienne Picard, Stéphane Caro, Franck Plestan, Fabien Claveau. Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots. In : Lenarcic J., Siciliano B. (eds) Advances in Robot Kinematics 2020. ARK 2020. Springer Proceedings in Advanced Robotics, 15, pp.209-217, 2020, 978-3-030-50974-3. ⟨10.1007/978-3-030-50975-0_26⟩. ⟨hal-02515911⟩

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