Cable failure tolerant control and planning in a planar reconfigurable cable driven parallel robot

The addition of geometric reconfigurability in a cable driven parallel robot (CDPR) introduces kinematic redundancies which can be exploited for manipulating structural and mechanical properties of the robot through redundancy resolution. In the event of a cable failure, a reconfigurable CDPR (rCDPR...

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Detalles Bibliográficos
Autores principales: Raman, Adhiti, Walker, Ian, Krovi, Venkat, Schmid, Matthias
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2023
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10229881/
https://www.ncbi.nlm.nih.gov/pubmed/37265744
http://dx.doi.org/10.3389/frobt.2023.1070627

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10229881/
https://www.ncbi.nlm.nih.gov/pubmed/37265744
http://dx.doi.org/10.3389/frobt.2023.1070627

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