Experimental redundantly actuated cable-driven manipulator

Kód výsledku v 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>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Experimental redundantly actuated cable-driven manipulator

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Experimental redundantly actuated cable-driven manipulator

Popis výsledku anglicky

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.

Druh

O - Ostatní výsledky

CEP obor

JR - Ostatní strojírenství

OECD FORD obor

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Projekt

<a href="/cs/project/GA15-20134S" target="_blank" >GA15-20134S: Vícestupňové lehké mechanismy s aktivními strukturami</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2016

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů