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dc.contributor.authorMichelin, Micaël
dc.contributor.authorHervé, Pierre Elie
dc.contributor.authorTempier, Olivier
dc.contributor.authorIzard, Jean Baptiste
dc.contributor.authorGouttefarde, Marc
dc.date.accessioned2021-06-21T08:24:28Z
dc.date.available2021-06-21T08:24:28Z
dc.date.issued2021-06-01
dc.identifier.citationMichelin, Micaël, Pierre Elie Hervé, Olivier Tempier, Jean Baptiste Izard, and Marc Gouttefarde. “Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot.” Cable-Driven Parallel Robots (2021): 323–335. doi:10.1007/978-3-030-75789-2_26.en
dc.identifier.issn2211-0984en
dc.identifier.urihttp://hdl.handle.net/11556/1152
dc.description.abstractIn 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.en
dc.description.sponsorshipThis work was supported by the ANR under grant ANR-15-CE10-0006, project DexterWide.en
dc.language.isoengen
dc.publisherSpringer Science and Business Media B.V.en
dc.titlePath Following Demonstration of a Hybrid Cable-Driven Parallel Roboten
dc.typeconferenceObjecten
dc.identifier.doi10.1007/978-3-030-75789-2_26en
dc.rights.accessRightsembargoedAccessen
dc.subject.keywordsHybrid cable-driven parallel roboten
dc.subject.keywordsKinematic redundancyen
dc.identifier.essn2211-0992en
dc.issue.numberCableCon 2021en
dc.journal.titleCable-Driven Parallel Robotsen
dc.page.final335en
dc.page.initial323en
dc.volume.number104en
dc.conference.titleInternational Conference on Cable-Driven Parallel Robotsen


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