Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency
Peer reviewed, Journal article
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Original versionIEEE Transactions on Robotics. 2020, 37 (2), 659-666. 10.1109/TRO.2020.3020747
In this article, we present a novel method for force allocation for overconstrained cable-driven parallel robot setups that guarantees continuously differentiable cable forces and allows for small penalized errors in the resulting wrench. For the latter, we also provide a bound on the error under some assumptions. We study real-time feasibility by performing numerical simulations on a large set of configurations.