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Wrench feasible workspace analysis of cable-driven parallel manipulators using LMI approach

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages1034-1039
Number of pages6
DOIs
Publication statusPublished - 2009
Externally publishedYes
Publication typeA4 Article in a conference publication
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 14 Jul 200917 Jul 2009

Conference

Conference2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CountrySingapore
CitySingapore
Period14/07/0917/07/09

Abstract

Workspace analysis is one of the most important issues in robotic manipulator design. This paper introduces a systematic method of analysis the wrench feasible workspace for general redundant cable-driven parallel manipulators. In this method, wrench feasible workspace is formulated in term of linear matrix inequalities and projective method is used for solving them. This method is one of the most efficient interiorpoint methods with a polynomial-time complexity. Moreover, the notion of dexterous workspace is defined, which can be determined for redundant cable driven manipulators exerting a worst case external wrench at the end effector. A detailed case study of the wrench feasible workspace and dexterous workspace determination are included for a six DOF, eight actuated cable-driven redundant parallel manipulator.