Stiffness-based Analytic Centre Method for Cable-Driven Parallel Robots
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866913832384856064 |
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| author | Dona', Domenico Di Paola, Vincenzo Zoppi, Matteo Trevisani, Alberto |
| author_facet | Dona', Domenico Di Paola, Vincenzo Zoppi, Matteo Trevisani, Alberto |
| contents | 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 particular, the approach relies on the Analytic-Centre method. Indeed, weighting the barrier functions makes natural the stiffness adaptation. The intrinsic ability to adjust the stiffness during the execution of the task enables the CDPRs to effectively meet above-mentioned requirements. The capabilities of the method are demonstrated through simulations by comparing it with the existing approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_07348 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Stiffness-based Analytic Centre Method for Cable-Driven Parallel Robots Dona', Domenico Di Paola, Vincenzo Zoppi, Matteo Trevisani, Alberto Robotics Systems and Control 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 particular, the approach relies on the Analytic-Centre method. Indeed, weighting the barrier functions makes natural the stiffness adaptation. The intrinsic ability to adjust the stiffness during the execution of the task enables the CDPRs to effectively meet above-mentioned requirements. The capabilities of the method are demonstrated through simulations by comparing it with the existing approach. |
| title | Stiffness-based Analytic Centre Method for Cable-Driven Parallel Robots |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2505.07348 |