DocumentCode
1696409
Title
Interference free workspace analysis of redundant 3D cable robots
Author
Ghasem, Ali ; Farid, Mehrdad ; Eghtesad, Mohammad
Author_Institution
Shiraz Univ., Shiraz
fYear
2008
Firstpage
1
Lastpage
6
Abstract
This paper develops an analytical approach for the workspace analysis of redundant cable robots with consideration of two types of interference. Both types of interference, cable/cable and cable/platform, are taken into account with important limiting factors for 2D and 3D cable robots with any number of redundancy. Simulation results are presented to show the importance of the interference consideration.
Keywords
end effectors; redundant manipulators; cable/cable interference; cable/platform interference; end effector; interference free workspace manipulation; redundant 3D cable robot; Bismuth; Cables; Equations; Interference constraints; Linear algebra; Manipulators; Mobile robots; Transmission line matrix methods; Cable robot; Interference; Redundancy; Workspace;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation Congress, 2008. WAC 2008. World
Conference_Location
Hawaii, HI
Print_ISBN
978-1-889335-38-4
Electronic_ISBN
978-1-889335-37-7
Type
conf
Filename
4699040
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