Input-Shaping for Feed-Forward Control of Cable-Driven Parallel Robots

This paper deals with the use of input-shaping filters in conjunction with a feed-forward control of Cable-Driven Parallel Robots (CDPRs), while integrating cable tension calculation to satisfy positive cable tensions along the prescribed trajectory of the moving-platform. This method aims to attenu...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	arXiv.org 2020-09
Hauptverfasser:	Baklouti, Sana, Courteille, Eric, Lemoine, Philippe, Nantes, Centrale, Caro, Stéphane
Format:	Artikel
Sprache:	eng
Schlagworte:	Attenuation Computer Science - Robotics Computer Science - Systems and Control Control methods Feedforward control Input shaping Physics - Classical Physics Robot control Velocity errors Vibration control
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!