Work

On Smooth Planar Curvilinear Motion of Cable-Driven Parallel Robot End-effector*

Year: 2022

Type: article

Abstract: The paper deals with the problem of smooth motion of the end-effector of an overactuated cable-driven parallel robot. There is observed a way to give planar curvilinear trajectory via Fourie series. The idea of this work is to use special sigmoid function as an argument of function composition to achieve smoothness at the beginning of motion of the end-effector of a cable-driven parallel robot. The developed method makes it possible to reduce the positioning errors of the end-effector when moving along complex trajectories.

Source: IFAC-PapersOnLine

DOI: 10.1016/j.ifacol.2022.10.080

Authors: Eugene A. Marchuk, Yaroslav V. Kalinin, Alexander V. Maloletov

Institutions: Innopolis University, Volgograd State Technical University

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

OpenAlex ID: W4312880293

FWCI: 0.342

Cites: 20

Cited by: 4

Related to: 10