期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 25, 期 6, 页码 1271-1281出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2009.2032957
关键词
Cable tension distributions; parallel cable-driven robots; parallel robots; redundant robots
类别
资金
- U. S. National Science Foundation [ECCS-0725441, ANI-0331481]
In this paper, we present a novel linear-program formulation that yields optimally safe (OS) tension distributions in parallel cable-driven robots by the introduction of a slack variable. The slack variable also enables explicit computation of a near-optimal, feasible starting point. This, in turn, enables rapid computation of the OS tension distributions. The formulation also contains a parameter that can be used to steer cable tensions toward desired regions of operation. We present static results from two simulated robotic systems that demonstrate the ability of our formulation to avoid tension limits. Simulated execution of highly dynamic trajectories on both systems demonstrates rapid-computation abilities. Furthermore, we present experimental results from a real robotic system that further validate the importance of safe tension distributions.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据