Experimental redundantly actuated cable-driven manipulator
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F16%3A00310825" target="_blank" >RIV/68407700:21220/16:00310825 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Experimental redundantly actuated cable-driven manipulator
Original language description
This paper deals with the design and construction of a small experimental redundantly actuated cable-driven parallel robot with 6 degrees of freedom. The simulation model and the control strategies are described as well. The main idea is to solve the redundant actuation problem by a control system based on a force feedback from every single actuator. Such an algorithm then allows the use of many parametrical solutions in order to satisfy force distribution or energy conditions. The actual design of experimental manipulator is modular and based on a low-cost hardware. The modularity of power/measuring unit allows us to easily reconfigurate the workspace of the manipulator.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
JR - Other machinery industry
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GA15-20134S" target="_blank" >GA15-20134S: Multi-Level Light Mechanisms with Active Structures</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů