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    Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot

    Identifiers
    URI: http://hdl.handle.net/11556/1152
    ISSN: 2211-0984
    DOI: 10.1007/978-3-030-75789-2_26
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    Author/s
    Michelin, Micaël; Hervé, Pierre Elie; Tempier, Olivier; Izard, Jean Baptiste; Gouttefarde, Marc
    Date
    2021-06-01
    Keywords
    Hybrid cable-driven parallel robot
    Kinematic redundancy
    Abstract
    In the context of applications requiring large workspace such as painting of airliners, a cable-driven parallel robot (CDPR) having a manipulator (robot arm) on-board its mobile platform possesses an interesting potential. Such a robotic system has typically more than six degrees of freedom (DOFs) and, hence, more than the minimum required to accomplish a task in Cartesian space. In particular, a robotic system consisting of a six-DOF cable-driven parallel robot whose mobile platform is equipped with a seven-DOF manipulator is considered in this paper. This robotic system being kinematically redundant, a redundancy resolution scheme is used to allow its end-effector to follow a relatively complex path in Cartesian space while avoiding cable collisions and satisfying some constraints on the CDPR workspace.
    Type
    conferenceObject

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