Solving the forward kinematics (FK) of parallel robots is known to be a difficult task and the problem is even more complex for cable driven parallel robot (CDPR): the system of equations that has to be solved is larger than with rigid legs as first the static equations have to be taken into account and, second because the deformation of the cables because of their elasticity and their mass may...

The presented controller system has been designed and dedicated to the intuitive and instinctive cable driven robot manipulator. The described robot manipulator is the moving platform suspended by the set of six variable-length steel cables. In practice the construction is like a standard inverted Stewart platform the platform is able to move in all six degrees of freedom with respect to its ba...

As automated construction processes require large workspaces and high payloads, the use of cables is a reasonable approach to span wide distances share loads. Therefore, cable-driven parallel robot suitable choice for masonry construction. Another possible robotic system this task consists set cooperative drones, each connected end effector payload by cable. Because similarities between two sys...

Cable-Driven Parallel Robots (CDPRs) are a class of parallel robots whose legs are composed of cables. The cables are fixed to a mobile platform and the robot base frame. CDPRs are limited by the cable interferences and the collisions between cables and environment. Reconfigurable Cable-Driven Parallel Robots (RCDPRs) are able to reduce these drawbacks. By reconfigurable, we means that the cabl...

This film describes the co-simulation aspect between virtual and real robots, for detection and isolation of actuators and transmission channel faults. 1. INTRODUCTION In this film, a Co-simulation between a virtual and a real mobile robot is presented. It concerns the on line telediagnosis of transmission channel and actuators faults of a mobile robot. Two innovated points are given through th...

Every industrial robot has a specific kinematics, which often results in anisotropic performance within its workspace in terms of force and velocity. A cable-driven system can be used to improve the force manipulability of a robot by introducing an actuation redundancy. Such system acts directly on the robot end-effector increasing its flexibility of use in applications where a higher and more ...