Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation
نویسندگان
چکیده
منابع مشابه
Four-cable-driven parallel robot
This paper presents design and kinematic analysis for a cable-driven parallel robotic (CDPR) manipulator with four cables, The CDPR manipulator produces a planar motion including two translational and one rotational degrees of freedom. To move the end-effector of CDPR, its kinematic structure is analyzed and the inverse kinematics is formulated in the closed-form solution. The experimental test...
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ژورنال
عنوان ژورنال: Mechanical Sciences
سال: 2015
ISSN: 2191-916X
DOI: 10.5194/ms-6-119-2015