Abstract
In this study, we propose an optimum non-iterative algorithm for the minimum cable tension solution of two degree-of-freedom cable-driven robots. The problem is specifically defined for a cable-driven robot with one end-effector connected to four motors by four cables. A two-cable algorithm and a three-cable algorithm are presented with examples, then the optimal two-cable and three-cable solutions are proven for the absolute value norm and Euclidean norm.
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CITATION STYLE
Baud-Bovy, G., & Cetin, K. (2018). A Simple Minimum Cable-Tension Algorithm for a 2-DOF Planar Cable-Driven Robot Driven by 4 Cables. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 10894 LNCS, pp. 68–81). Springer Verlag. https://doi.org/10.1007/978-3-319-93399-3_7
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