Lagrangian dynamics of cable-driven parallel manipulators: A variable mass formulation

Transactions of the Canadian Society for Mechanical Engineering

Volumn 35, Issue 4, 2011, Pages 529-542

  Bedoustani, Yousef B ^a   Bigras, Pascal ^a   Taghirad, Hamid D ^b   Bonev, Ilian A ^a  

^a ÉCOLE DE TECHNOLOGIE SUPÉRIEURE   (Canada)

^b K N TOOSI UNIVERSITY OF TECHNOLOGY   (Iran)

Author keywords

Cable driven robots; Closed form dynamics; Variable mass Lagrangian formulation

Indexed keywords

CABLES; CONTROL SYSTEM SYNTHESIS; LAGRANGE MULTIPLIERS; ROBUST CONTROL; VIBRATION ANALYSIS;

CABLE DRIVEN ROBOTS; CABLE-DRIVEN PARALLEL MANIPULATORS; CLOSED-FORM DYNAMICS; INERTIAL PARAMETERS; LAGRANGIAN DYNAMICS; ROBUST CONTROL SYNTHESIS; VARIABLE MASS; VARIABLE MASS LAGRANGIAN FORMULATIONS;

MANIPULATORS;

EID: 84860632768     PISSN: 03158977     EISSN: None     Source Type: Journal    
DOI: 10.1139/tcsme-2011-0032     Document Type: Conference Paper

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