the large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. most of this computational burden is due to calculation of switching points. in this paper a learning algorithm is proposed for finding the switching points. the method, which can be used for both ...

Underactuated Cable-Driven Parallel Robots (CDPR) employ a number of cables smaller than the degrees freedom (DoFs) end-effector (EE) that they control. As consequence, EE is underconstrained and preserves some freedoms even when all actuators are locked, which may lead to undesirable oscillations. This paper proposes methodology for computation natural oscillation frequencies, whose knowledge ...

This paper presents an initial work of identifying the dynamic parameters for cable-driven parallel robot (CDPR), CRAFT with a rigorous protocol. An orbital trajectory platform is designed in order to get pure translation movement platform. evolves plane and allows identification four parameters, mass first three moments along main axes. The results obtained respectively from data experimental ...

For Cable-Driven Parallel Manipulators (CDPMs), employing redundant driving cables is necessary to obtain the full manipulation of the moving platform because of the unilateral driving property of the cables. Unlike rigid-link manipulators, the workspace of CDPMs is always determined and characterized by positive tension status of driving cables. In addition, it has been realized that the Tensi...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

This paper deals with the kinetostatic model for a planar point mass cable-driven parallel manipulator when the cable elasticity and configuration have been fully taken into account. An exact model solution for the statics is obtained by consider elastic hefty cables. The proposed formulation allows considering specific behavior of cables for large dimensions cable-suspended robots in which the...