A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics
A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics
- New search for: Santos, João Cavalcanti
- New search for: Gouttefarde, Marc
- New search for: Lenarčič, Jadran
- New search for: Siciliano, Bruno
- New search for: Santos, João Cavalcanti
- New search for: Gouttefarde, Marc
A real-time capable Forward Kinematics (FK) algorithm for Cable-Driven Parallel Robots (CDPRs) considering the pulley kinematics is proposed. The algorithm applies iteratively QR decomposition to solve a linearized version of the least squares problem representing the FK. Differential kinematics delivers an analytical expression for the Jacobian matrix of CDPRs considering the pulley kinematics. This Jacobian matrix is used to construct the linearization of the FK problem. Experimental and numerical results address the convergence capabilities of the proposed algorithm.
Document information
A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020
2020-07-18
10 pages
Article/Chapter (Book)
Electronic Resource
English
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