Wrench feasible workspace analysis of cable-driven parallel manipulators using LMI approach
Tutkimustuotos › › vertaisarvioitu
Yksityiskohdat
| Alkuperäiskieli | Englanti |
|---|---|
| Otsikko | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
| Sivut | 1034-1039 |
| Sivumäärä | 6 |
| DOI - pysyväislinkit | |
| Tila | Julkaistu - 2009 |
| Julkaistu ulkoisesti | Kyllä |
| OKM-julkaisutyyppi | A4 Artikkeli konferenssijulkaisussa |
| Tapahtuma | 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore Kesto: 14 heinäkuuta 2009 → 17 heinäkuuta 2009 |
Conference
| Conference | 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 |
|---|---|
| Maa | Singapore |
| Kaupunki | Singapore |
| Ajanjakso | 14/07/09 → 17/07/09 |
Tiivistelmä
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.