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2018 | OriginalPaper | Chapter

4. Kinematic Codes

Author : Andreas Pott

Published in: Cable-Driven Parallel Robots

Publisher: Springer International Publishing

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Abstract

This chapter deals with the kinematic transformation and its derivatives for the standard model. Then, singularities are introduced for cable robots. An overview of kinematic codes is given and algorithms for real-time capable codes are proposed.

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previous chapter Geometric and Static Foundations
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Footnotes
1
More precisely, the solution is only unique if we ignore the solutions that provide a negative length for the cable which is considered to be infeasible from a physical point of view.
 
2
Computation time determined on an Intel Core i5-3320M 2.6 GHz, Microsoft Visual C\(++\) 2010.
 
3
At least, the author is not aware of a use-case.
 
4
More precisely speaking, such robots are always in operation with a constantly applied external wrench that is independent from the platform pose. Similarly, one can add springs to the robot in order to create a pose-dependent artificial potential field as studied by Duan [131].
 
5
Note that the indices 1, 2, 3 in this section relate to the three winches chosen with the common point B on the platform. Without loss of generality, one can renumber the winches so that the first three have the common point on the platform.
 
6
For comparison, a computation time of 47 \(\upmu \)s was determined on a more recent Core i5-3320M with 2.6 GHz.
 
Metadata
Title
Kinematic Codes
Author
Andreas Pott
Copyright Year
2018
Book
Cable-Driven Parallel Robots

Print ISBN: 978-3-319-76137-4

Electronic ISBN: 978-3-319-76138-1

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-76138-1_4