By Topic

Forward kinematic analysis of a planar cable driven redundant parallel manipulator using force sensors

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Oftadeh, R. ; Fac. of Electr. & Comput. Eng., K. N. Toosi Univ. of Technol., Tehran, Iran ; Aref, M.M. ; Taghirad, H.D.

Newly developed cable driven redundant parallel manipulators (CDRPM) have numerous advantages compared to that of the conventional parallel mechanisms. However, there exist some challenging issues in over-constrained mechanisms like CDRPMs. In contrast to serial manipulators, complexity of parallel manipulator forward kinematics (FK) is one of the main issues being under study in the control of such manipulators. Moreover, using extra sensory data is a common approach in the FK solution of rigid-linked parallel manipulators, which is considered by fewer researchers for CDRPMs. In this paper, tension force sensors of the cables are used as an extra sensor to simplify analytical solution of the FK for a planar CDRPM. To find a suitable solution, geometrical and physical characteristics of the robot are analyzed. It is shown that the proposed method provides the required accuracy and significantly improves the process time compared to the conventional methods.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010