Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots

Julien Alexandre Dit Sandretto (1) , Gilles Trombettoni (1, 2) , David Daney (1)

1 COPRIN - Constraints solving, optimization and robust interval analysis
2 I3S - Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis

In the cable-driven robot studies, the mass and the elasticity of cables are often ne- glected, particularly for small-sized robots. Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration. We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration.

Mots clés: Cable-driven robot; Interval analysis

Domaines: Robotique [cs.RO]

Julien Alexandre Dit Sandretto, Gilles Trombettoni, David Daney. Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots. Viadero, Fernando; Ceccarelli, Marco. New Trends in Mechanism and Machine Science, Mechanisms and Machine Science (7), Springer Netherlands, pp.85-93, 2013, Theory and Applications in Engineering, 978-94-007-4901-6. ⟨10.1007/978-94-007-4902-3_9⟩. ⟨hal-00907510⟩