Optimization of actuator forces in cable-based parallel manipulators using convex analysis

IEEE Transactions on Robotics

Volumn 24, Issue 3, 2008, Pages 736-740

  Hassan, Mahir ^a   Khajepour, Amir ^a  

^a UNIVERSITY OF WATERLOO   (Canada)

Author keywords

Cable driven mechanisms; Force distribution; Optimization; Tendon driven; Wire driven parallel robots

Indexed keywords

ACTUATORS; MANIPULATORS; OPTIMIZATION; SET THEORY; SIZE DISTRIBUTION; SOLUTIONS; WIRE ROPE;

APPLIED (CO); AVERAGE SIZE; CABLE FORCES; CABLE-DRIVEN PARALLEL MANIPULATORS; CONVEX ANALYSIS; CONVEX SETS; DRIVING PROPERTY; FORCE DISTRIBUTIONS; INEQUALITY CONSTRAINTS; LOWER COST; MINIMUM NORM SOLUTIONS; OPTIMIZ ATION PROBLEMS; OPTIMUM SOLUTIONS; PARALLEL MANIPULATORS; PROJECTION METHODS; REDUNDANT ACTUATION;

CABLES;

EID: 46349106658     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.919289     Document Type: Article

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