RT Conference Proceedings
T1 Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo)
A1 Michelin, Micaël
A1 Baradat, Cédric
A1 Nguyen, Dinh Quan
A1 Gouttefarde, Marc
A2 Pott, Andreas
A2 Bruckmann, Tobias
AB 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.
PB Kluwer Academic Publishers
SN 9783319094885
SN 2211-0984
YR 2015
FD 2015
LK https://hdl.handle.net/11556/2718
UL https://hdl.handle.net/11556/2718
LA eng
NO 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
NO conference
NO Publisher Copyright: © Springer International Publishing Switzerland 2015.
NO The research leading to these results has received funding from the European Community’s Seventh Framework Program under grant agreement No. NMP2-SL-2011-285404 (CABLEBOT). The authors would like to thank the CEA for their support.
DS TECNALIA Publications
RD 28 jul 2024