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Communication Dans Un Congrès Année : 2012

Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots

Résumé

In the cable-driven robot studies, the mass and the elasticity of cables are often neglected, particularly for small-sized robots.Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration.We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration.
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Dates et versions

hal-00987425 , version 1 (14-02-2017)

Identifiants

  • HAL Id : hal-00987425 , version 1

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Julien Alexandre Dit Sandretto, Gilles Trombettoni, David Daney. Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots. EUCOMES: European Conference on Mechanism Science, Sep 2012, Santander, Spain. ⟨hal-00987425⟩
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