Contribution to the modeling of cable-suspended parallel robot hanged on the four points
This paper describes a novel mathematical model of the Cable-suspended Parallel Robot. The complex system is made to accurately carry camera in the 3D space. The geometric relationship between the camera motion in the Cartesian coordinates and motors angular positions is defined by the Jacobian matr...
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| creator | Filipovic, M. Djuric, A. Kevac, L. |
| description | This paper describes a novel mathematical model of the Cable-suspended Parallel Robot. The complex system is made to accurately carry camera in the 3D space. The geometric relationship between the camera motion in the Cartesian coordinates and motors angular positions is defined by the Jacobian matrix, which represents the solution of the kinematic problem. The solution of the calculated matrix directly depends on the system's geometry. The adopted Jacobian matrix is used for calculation of the dynamic model of the Cable-suspended Parallel Robot. Two numerical examples are used to illustrate practical usefulness of the proposed mathematical model and its validation. The final goal of this research is to ensure the accurate and highly automated guidance of the camera in 3D space with the minimal involvement of the human factor for the task generation. |
| doi_str_mv | 10.1109/IROS.2012.6385507 |
| format | Conference Proceeding |
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The complex system is made to accurately carry camera in the 3D space. The geometric relationship between the camera motion in the Cartesian coordinates and motors angular positions is defined by the Jacobian matrix, which represents the solution of the kinematic problem. The solution of the calculated matrix directly depends on the system's geometry. The adopted Jacobian matrix is used for calculation of the dynamic model of the Cable-suspended Parallel Robot. Two numerical examples are used to illustrate practical usefulness of the proposed mathematical model and its validation. The final goal of this research is to ensure the accurate and highly automated guidance of the camera in 3D space with the minimal involvement of the human factor for the task generation.</description><subject>analysis</subject><subject>Cameras</subject><subject>dynamics</subject><subject>Force</subject><subject>Jacobian matrices</subject><subject>Kinematics</subject><subject>Mathematical model</subject><subject>observation</subject><subject>Parallel robots</subject><subject>Power cables</subject><subject>synthesis</subject><subject>workspace</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>1467317373</isbn><isbn>9781467317375</isbn><isbn>9781467317351</isbn><isbn>1467317365</isbn><isbn>9781467317368</isbn><isbn>1467317357</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9kMlqwzAYhNUNmqZ-gNKLXsCuFmvxsZgugUCgC_QWtPxOVBzL2PKhb1-Xpj0NzPANwyB0Q0lBKanuVi-b14IRygrJtRBEnaCsUpqWUnGquKCnaMGo4DnRUp6hq79A8fP_QOhLlI3jJyFk7pScVgv0UccuDcFOKcQOp4jTHvAhemhDt8Oxwc7YFvJxGnvoPHjcm8G0LbR4iDYmvDfdbnZ_2Bls4jTgPoYujdfoojHtCNlRl-j98eGtfs7Xm6dVfb_OA1Ui5VpW0ppS6IZW4GXp593CayVLAiCENuBU45zXVmliGXOG0cZropUTrio5X6Lb394AANt-CAczfG2PJ_FvO8RXUQ</recordid><startdate>201210</startdate><enddate>201210</enddate><creator>Filipovic, M.</creator><creator>Djuric, A.</creator><creator>Kevac, L.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201210</creationdate><title>Contribution to the modeling of cable-suspended parallel robot hanged on the four points</title><author>Filipovic, M. ; Djuric, A. ; Kevac, L.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-8696ba458f19ed64d4675d87640ee558aec7fccd8b780b22ca21fd8087c5c9433</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>analysis</topic><topic>Cameras</topic><topic>dynamics</topic><topic>Force</topic><topic>Jacobian matrices</topic><topic>Kinematics</topic><topic>Mathematical model</topic><topic>observation</topic><topic>Parallel robots</topic><topic>Power cables</topic><topic>synthesis</topic><topic>workspace</topic><toplevel>online_resources</toplevel><creatorcontrib>Filipovic, M.</creatorcontrib><creatorcontrib>Djuric, A.</creatorcontrib><creatorcontrib>Kevac, L.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Filipovic, M.</au><au>Djuric, A.</au><au>Kevac, L.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Contribution to the modeling of cable-suspended parallel robot hanged on the four points</atitle><btitle>2012 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2012-10</date><risdate>2012</risdate><spage>3526</spage><epage>3531</epage><pages>3526-3531</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>1467317373</isbn><isbn>9781467317375</isbn><eisbn>9781467317351</eisbn><eisbn>1467317365</eisbn><eisbn>9781467317368</eisbn><eisbn>1467317357</eisbn><abstract>This paper describes a novel mathematical model of the Cable-suspended Parallel Robot. The complex system is made to accurately carry camera in the 3D space. The geometric relationship between the camera motion in the Cartesian coordinates and motors angular positions is defined by the Jacobian matrix, which represents the solution of the kinematic problem. The solution of the calculated matrix directly depends on the system's geometry. The adopted Jacobian matrix is used for calculation of the dynamic model of the Cable-suspended Parallel Robot. Two numerical examples are used to illustrate practical usefulness of the proposed mathematical model and its validation. The final goal of this research is to ensure the accurate and highly automated guidance of the camera in 3D space with the minimal involvement of the human factor for the task generation.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2012.6385507</doi><tpages>6</tpages></addata></record> |
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| language | eng |
| recordid | cdi_ieee_primary_6385507 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | analysis Cameras dynamics Force Jacobian matrices Kinematics Mathematical model observation Parallel robots Power cables synthesis workspace |
| title | Contribution to the modeling of cable-suspended parallel robot hanged on the four points |
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