Cable-suspended planar parallel robots with redundant cables: Controllers with positive cable tensions

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2003, Pages 3023-3028

  Oh, So Ryeok ^a   Agrawal, Sunil K ^a  

^a UNIVERSITY OF DELAWARE   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL;

CABLE SUSPENDED ROBOTS; PLANAR PARALLEL ROBOTS;

END EFFECTORS;

EID: 0345327814     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

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2. Albus, J., Bostelman, R., and Dagalakis, N., "The NIST Robocrane", Journal of Research of National Institute of Science and Technology, Vol. 97, No. 3, 373-385, 1992.
3. Abdullah B. Alp, Sunil K. Agrawal, "Cable Suspended Robots: Design, Planning and Control", Proceedings of International Conference on Robotics and Automation, Washington, DC, 4275-4280, 2002.
4. A.A. Maciejewski, C.A. Klein, "Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments", International Journal of Robotics Research, Vol 5, No. 4, 109-117, 1985.
5. Y. Nakamura, H. Hanafusa, "Inverse Kinematics Solutions with Singularity Robustness for Robot Manipulator Control", Transaction of the ASME Journal of Dynamic System, Measurement, and Control, Vol. 108, 163-171, 1986.
6. Faiz, N. and Agrawal, S. K., Murray, R. M., "Trajectory Planning of Differentially Flat Systems with Dynamics and Inequalities", AIAA Journal of Guidance, Control, ad Dynamics, Vol. 24, No. 2, 219-227, 2001.