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- W2133755914 abstract "AbstractThe objective of this paper is providing the first experimental evidence of the effectiveness of an off-line trajectory planning approach developed to ensure positive and bounded cable tensions in under constrained planar two-degree-of-freedom translational cable robots. The hybrid (serial/parallel) topology of the investigated robot is general enough to ensure wide applicability of the proposed trajectory planning method, which translates the usual bilateral tensile cable force constraints into kinematic constraints on the velocity and acceleration of the robot tool center point along the desired path. Kinematic constraints are computed making use of the robot dynamic model and can then be incorporated in any trajectory planning algorithm. In this work a smooth trajectory planning algorithm based on quintic polynomials is adopted. The experimental setup is presented and the results obtained by applying the method to two sample paths are discussed.KeywordsKinematic ConstraintTrajectory PlanningCircular PathCable TensionTool Center PointThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves." @default.
- W2133755914 created "2016-06-24" @default.
- W2133755914 creator A5002498359 @default.
- W2133755914 date "2012-09-08" @default.
- W2133755914 modified "2023-09-23" @default.
- W2133755914 title "Experimental Validation of a Trajectory Planning Approach Avoiding Cable Slackness and Excessive Tension in Underconstrained Translational Planar Cable-Driven Robots" @default.
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- W2133755914 doi "https://doi.org/10.1007/978-3-642-31988-4_2" @default.
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