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Cable-Driven Parallel Robots

Proceedings of the Second International Conference on Cable-Driven Parallel Robots

  • Conference proceedings
  • © 2015

Overview

Editors:
  1. Andreas Pott

    1. Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Stuttgart, Germany

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    You can also search for this editor in PubMed   Google Scholar

  2. Tobias Bruckmann

    1. University of Duisburg-Essen, Duisburg, Germany

    View editor publications

    You can also search for this editor in PubMed   Google Scholar

  • Presents the state of the art cable-driven parallel robots
  • Covers all essential topics
  • Includes summarizing contributions as well as latest research and future options
  • Includes supplementary material: sn.pub/extras

Part of the book series: Mechanisms and Machine Science (Mechan. Machine Science, volume 32)

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Table of contents (23 papers)

  1. Front Matter

    Pages i-xi
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  2. Modeling

    1. Front Matter

      Pages 1-1
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    2. The Forward Kinematics of Cable-Driven Parallel Robots with Sagging Cables

      • Jean-Pierre Merlet, Julien Alexandre-dit-Sandretto
      Pages 3-15

    3. An Elastic Cable Model for Cable-Driven Parallel Robots Including Hysteresis Effects

      • Philipp Miermeister, Werner Kraus, Tian Lan, Andreas Pott
      Pages 17-28

    4. On the Improvement of Cable Collision Detection Algorithms

      • Dinh Quan Nguyen, Marc Gouttefarde
      Pages 29-40

    5. Workspace Analysis of Redundant Cable-Suspended Parallel Robots

      • Alessandro Berti, Jean-Pierre Merlet, Marco Carricato
      Pages 41-53

    6. On the Static Stiffness of Incompletely Restrained Cable-Driven Robot

      • Hui Li
      Pages 55-69

    7. Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo)

      • Micaël Michelin, Cédric Baradat, Dinh Quan Nguyen, Marc Gouttefarde
      Pages 71-83

  4. Control

    1. Front Matter

      Pages 129-129
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    2. Robust Internal Force-Based Impedance Control for Cable-Driven Parallel Robots

      • Christopher Reichert, Katharina Müller, Tobias Bruckmann
      Pages 131-143

    3. Adaptive Control of KNTU Planar Cable-Driven Parallel Robot with Uncertainties in Dynamic and Kinematic Parameters

      • Reza Babaghasabha, Mohammad A. Khosravi, Hamid D. Taghirad
      Pages 145-159

    4. Dynamic Analysis and Control of Fully-Constrained Cable Robots with Elastic Cables: Variable Stiffness Formulation

      • Mohammad A. Khosravi, Hamid D. Taghirad
      Pages 161-177

    5. Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo

      • Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze
      Pages 179-200

    6. Haptic Interaction with a Cable-Driven Parallel Robot Using Admittance Control

      • Wei Yang Ho, Werner Kraus, Alexander Mangold, Andreas Pott
      Pages 201-212

    7. A Kinematic Vision-Based Position Control of a 6-DoF Cable-Driven Parallel Robot

      • Ryad Chellal, Loïc Cuvillon, Edouard Laroche
      Pages 213-225

    8. Analysis of a Real-Time Capable Cable Force Computation Method

      • Katharina Müller, Christopher Reichert, Tobias Bruckmann
      Pages 227-238
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Keywords

About this book

This volume presents the outcome of the second forum to cable-driven parallel robots, bringing the cable robot community together. It shows the new ideas of the active researchers developing cable-driven robots. The book presents the state of the art, including both summarizing contributions as well as latest research and future options. The book cover all topics which are essential for cable-driven robots:
Classification
Kinematics, Workspace and Singularity Analysis
Statics and Dynamics Cable Modeling
Control and Calibration
Design Methodology
Hardware Development
Experimental Evaluation
Prototypes, Application Reports and new Application concepts.

Editors and Affiliations

  • Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Stuttgart, Germany

    Andreas Pott

  • University of Duisburg-Essen, Duisburg, Germany

    Tobias Bruckmann

Bibliographic Information

  • Book Title: Cable-Driven Parallel Robots

  • Book Subtitle: Proceedings of the Second International Conference on Cable-Driven Parallel Robots

  • Editors: Andreas Pott, Tobias Bruckmann

  • Series Title: Mechanisms and Machine Science

  • DOI: https://doi.org/10.1007/978-3-319-09489-2

  • Publisher: Springer Cham

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer International Publishing Switzerland 2015

  • Hardcover ISBN: 978-3-319-09488-5Published: 11 December 2014

  • Softcover ISBN: 978-3-319-38209-8Published: 22 September 2016

  • eBook ISBN: 978-3-319-09489-2Published: 14 August 2014

  • Series ISSN: 2211-0984

  • Series E-ISSN: 2211-0992

  • Edition Number: 1

  • Number of Pages: XI, 324

  • Number of Illustrations: 27 b/w illustrations, 135 illustrations in colour

  • Topics: Robotics and Automation, Engineering Design

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