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Erschienen in:
2015 | OriginalPaper | Buchkapitel
Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo)
verfasst von : Micaël Michelin, Cédric Baradat, Dinh Quan Nguyen, Marc Gouttefarde
Erschienen in: Cable-Driven Parallel Robots
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Abstract
We present in this paper the process allowing to create
a cable-driven parallel robot (CDPR) simulation within the XDE software environment in C\({+}{+}\) language. The elementary classes constituting a CDPR are shown with their constructor specificities. The winches, the pulleys, the cable fastenings and the platform are presented. The parameterization of elements such as the cable material characteristics, structure and size are detailed. An interface between the XDE cable-driven parallel robot simulator and a Matlab/Simulink controller have been developed. Inputs and outputs are exchanged between the controller and the simulated cable-driven robot, exactly as it is done with a physical robot.