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A Unified Approach to Forward Kinematics for Cable-Driven Parallel Robots Based on Energy

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Book cover Advances in Robot Kinematics 2018 (ARK 2018)

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Abstract

This paper deals with a unified approach to forward kinematics for both over-constrained and under-constrained cable robots. Moreover, little assumptions on the cable model are required. This makes the proposed method applicable to a variety of currently discussed cable models including the standard model, an elastic cable model, static cable sagging, or even finite elements model. Solutions to the forward kinematics problem are computed by minimizing potential energy in the cable robot. As shown in this paper, the method unifies forward kinematics of both over-constrained and under-constrained cable robots.

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Acknowledgement

The authors would like to thank the German Research Foundation (DFG) for financial support of the project within the Cluster of Excellence in Simulation Technology (EXC 310/1) at the University of Stuttgart.

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Authors and Affiliations

  1. Institute for Control Engineering of Machine Tools and Manufacturing Units, Fraunhofer IPA, University of Stuttgart, Stuttgart, Germany

    Andreas Pott

  2. Institute for Control Engineering of Machine Tools and Manufacturing Units, University of Stuttgart, Stuttgart, Germany

    Philipp Tempel

Authors
  1. Andreas Pott
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  2. Philipp Tempel
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Corresponding author

Correspondence to Andreas Pott .

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Editors and Affiliations

  1. J. Stefan Institute, Ljubljana, Slovenia

    Jadran Lenarcic

  2. Department of Industrial Engineering, University of Bologna, Bologna, Italy

    Vincenzo Parenti-Castelli

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Pott, A., Tempel, P. (2019). A Unified Approach to Forward Kinematics for Cable-Driven Parallel Robots Based on Energy. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_46

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