Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo)
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2015
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Kluwer Academic Publishers
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We present in this paper the process allowing to create a cable-driven parallel robot (CDPR) simulation within the XDE software environment in C++ language. The elementary classes constituting a CDPR are shown with their constructor specificities. The winches, the pulleys, the cable fastenings and the platform are presented. The parameterization of elements such as the cable material characteristics, structure and size are detailed. An interface between the XDE cable-driven parallel robot simulator and a Matlab/Simulink controller have been developed. Inputs and outputs are exchanged between the controller and the simulated cable-driven robot, exactly as it is done with a physical robot.
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Publisher Copyright: © Springer International Publishing Switzerland 2015.
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Michelin , M , Baradat , C , Nguyen , D Q & Gouttefarde , M 2015 , Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo) . in A Pott & T Bruckmann (eds) , Cable-Driven Parallel Robots - Proceedings of the 2nd International Conference on Cable-Driven Parallel Robots . Mechanisms and Machine Science , vol. 32 , Kluwer Academic Publishers , pp. 71-83 , 2nd International Conference on Cable-Driven Parallel Robots, CableCon 2014 , Duisburg , Germany , 24/08/14 . https://doi.org/10.1007/978-3-319-09489-2_6
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