Real-Time Cable Force Calculation beyond the Wrench-Feasible Workspace

Roland Boumann, Tobias Bruckmann
2020 Robotics  
Under special circumstances, a cable-driven parallel robot (CDPR) may leave its wrench-feasible-workspace. Standard approaches for the computation of set-point cable forces are likely to fail in this case. The novel nearest corner method for calculating appropriate cable forces when the CDPR is outside of its wrench-feasible-workspace was introduced in former work of the authors. The obtained cable force distributions aim at continuity and generate wrenches close to the desired values. The
more » ... d employs geometrical operations in the cable force space and promises real-time usability because of its non-iterative structure. In a simplified simulation, a cable break scenario was used to carry out more detailed testing of the method regarding different parameters, a higher number of cables, and the numerical efficiency. A brief discussion about the continuity of the method when entering the wrench-feasible-workspace is presented.
doi:10.3390/robotics9020041 fatcat:e3dmil6csjcdxilrkyfo3cz6ei