Visual Servoing of Cable-Driven Parallel Robots with Tension Management
Zane Zake François Chaumette Nicolò Pedemonte Stéphane Caro Zane Zake François Chaumette Nicolò Pedemonte Stéphane Caro
Cable-driven parallel robots (CDPRs) are a type of parallel robots, where cables are used instead of rigid links. This leads to many advantages, such as large workspace, low mass in motion and simple reconfiguration. The drawbacks are accuracy issues and complex cable management. Indeed, it is usual that cables become slack. That can be caused by, for example, cable mass, uncertainties in the syst...