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- W2940634706 abstract "This paper proposes the design and control strategy for a four degrees-of-freedom spatial cable-suspended parallel robot for pick and place operations. Pick and place is a repetitive task requiring payload changes for the movement to pick-up the object, and the movement to the nal pose to release the manipulated object. In this paper, a new robust control strategy has been proposed, together with proper trajectories for the required operation. The control strategy consists on the system decoupling and linearization by means of a feedforward term and a cascade PD controller. The main advantage of the proposed solution is that its design can be scalable in size spanning from centimeters to meters with a relatively good positioning accuracy. Finally, simulations are reported to show the overall performances of the proposed con guration for pick and place operations with a medium size manipulator." @default.
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- W2940634706 date "2017-12-01" @default.
- W2940634706 modified "2023-09-26" @default.
- W2940634706 title "On the Design of a 4 Degrees-of-freedom Pick and Place Cable Suspended Parallel Manipulator" @default.
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- W2940634706 doi "https://doi.org/10.11591/ijra.v6i4.pp286-302" @default.
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