On the ability of a cable-driven robot to generate a prescribed set of wrenches
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The document summarizes research into using a cable-driven robot to generate different wrenches (forces and torques) at a platform. It discusses representing the set of all possible wrenches (A) using zonotopes and different algorithms like convex hull and hyperplane shifting to calculate A from the cable tensions (T). The goal is to enable the robot to perform different tasks by generating the required wrenches through varying cable tensions while considering the robot's degrees of freedom and constraints.
![ON THE ABILITY OF A CABLE-DRIVEN ROBOT TO GENERATE A PRESCRIBED SET OF WRENCHES (DETC2008-49518) Samuel Bouchard, Clément Gosselin, Brian Moore [email_address] [email_address] [email_address] ASME IDETC-CIE August 6th 2008, New York City](https://image.slidesharecdn.com/presentationasme2008-1218136872534218-8/85/On-the-ability-of-a-cable-driven-robot-to-generate-a-prescribed-set-of-wrenches-1-320.jpg)
![Examples [Animations]](https://image.slidesharecdn.com/presentationasme2008-1218136872534218-8/85/On-the-ability-of-a-cable-driven-robot-to-generate-a-prescribed-set-of-wrenches-12-320.jpg)
![A in the litterature [Pham et al., 2005] [Bosscher et al.,2004]](https://image.slidesharecdn.com/presentationasme2008-1218136872534218-8/85/On-the-ability-of-a-cable-driven-robot-to-generate-a-prescribed-set-of-wrenches-13-320.jpg)
On the ability of a cable-driven robot to generate a prescribed set of wrenches
- 1. ON THE ABILITY OF A CABLE-DRIVEN ROBOT TO GENERATE A PRESCRIBED SET OF WRENCHES (DETC2008-49518) Samuel Bouchard, Clément Gosselin, Brian Moore [email_address] [email_address] [email_address] ASME IDETC-CIE August 6th 2008, New York City
- 2. Objective Ability to generate a set of wrenches at the platform considering: Minimum and maximum tension n cables, d degrees of freedom, n>=d Suspended or fully constrained
- 3. Different wrenches for different tasks Skycam Photo: jamd.com Tokyo University Wire Haptic Interface Photo: Prof. Takeda, Tokyo Institute of Technology
- 5. Plan of the presentation Nature of A. Representations and method to define A . Relationship between A and T .
- 6. Nature of A
- 7. Wrench equation Solve considering the constraint:
- 8. Nature of A
- 11. Zonotope, definition 3 A
- 13. A in the litterature [Pham et al., 2005] [Bosscher et al.,2004]
- 14. How to obtain A ?
- 16. Algorithms No H Hyperplane shifting Yes H or V Convex hull Iterative? Representations Method
- 17. Convex Hull
- 20. Relation between A and T
- 21. Set of inequalities T is a single wrench:
- 22. Set of inequalities T is a single wrench: T is a set with many wrenches:
- 23. Future work Improve hyperplane shifting method Optimal tension distribution