Abstract
In the cable-driven robot studies, the mass and the elasticity of cables are often neglected, particularly for small-sized robots. Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration. We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration. © Springer Science+Business Media Dordrecht 2013.
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Dit Sandretto, J. A., Trombettoni, G., & Daney, D. (2013). Confirmation of hypothesis on cable properties for cable-driven robots. In Mechanisms and Machine Science (Vol. 7, pp. 85–93). Kluwer Academic Publishers. https://doi.org/10.1007/978-94-007-4902-3_9
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