Related papers: 8-DoFs Cable Driven Parallel Robots for Bimanual T…
Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their…
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due…
This paper presents a kinematically constrained planar hybrid cable-driven parallel robot (HCDPR) for warehousing applications as well as other potential applications such as rehabilitation. The proposed HCDPR can harness the strengths and…
Soldiers in the field often need to cross negative obstacles, such as rivers or canyons, to reach goals or safety. Military gap crossing involves on-site temporary bridges construction. However, this procedure is conducted with dangerous,…
Cable-Driven Parallel Robots (CDPRs) are a kind of parallel robots that have cables instead of rigid links. Implementing vision-based control on CDPRs leads to a good final accuracy despite modeling errors and other perturbations in the…
This study evaluates the performance of classical and modern control methods for real-world Cable-Driven Parallel Robots (CDPRs), focusing on underconstrained systems with limited time discretization. A comparative analysis is conducted…
Cable-driven parallel robots (CDPRs) are widely investigated and applied in the worldwide; however, traditional configurations make them to be limited in reaching their maximum workspace duo to constraints such as the maximum allowable…
Cable transmission enables motors of robotic arm to operate lightweight and low-inertia joints remotely in various environments, but it also creates issues with motion coupling and cable routing that can reduce arm's control precision and…
This paper presents a method for dynamic adjustment of cable preloads based on the actuation redundancy of \acp{CDPR}, which allows increasing or decreasing the platform stiffness depending on task requirements. This is achieved by…
Although parallel manipulators (PMs) started with the introduction of architectures with 6 Degrees of Freedom (DoF), a vast number of applications require less than 6 DoF. Consequently, scholars have proposed architectures with 3 DoF and 4…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
This paper introduces the Cable Robot Simulation and Control (CaRoSaC) Framework, which integrates a simulation environment with a model-free reinforcement learning control methodology for suspended Cable-Driven Parallel Robots (CDPRs),…
The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
Cable-driven parallel robots (CDPRs) have gained significant attention due to their promising advantages. When deploying CDPRs in practice, the kinematic modeling is a key question. Unlike serial robots, CDPRs have a simple inverse…
This paper deals with the use of input-shaping filters in conjunction with a feed-forward control of Cable-Driven Parallel Robots (CDPRs), while integrating cable tension calculation to satisfy positive cable tensions along the prescribed…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
Parallel robots are capable of high-speed manipulation and have become essential tools in the industry. The proximal placement of their motors and the low weight of their end effectors make them ideal for generating highly dynamic motion.…
Nowadays, being fast and precise are key requirements in Robotics. This work introduces a novel methodology to tune the stiffness of Cable-Driven Parallel Robots (CDPRs) while simultaneously addressing the tension distribution problem. In…
High-quality teleoperated demonstrations are a primary bottleneck for imitation learning (IL) in dexterous manipulation. However, haptic feedback provides operators with real-time contact information, enabling real-time finger posture…