A stability measure for underconstrained cable-driven robots

This paper introduces a slope-based measure of the stability of a pose of an underconstrained cable robot. In order to define this measure, the set of twists that the end-effector can instantaneously undergo is found. The measure is then derived using an energy-based approach to generalize the defin...

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Bibliographic Details
Published inIEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 Vol. 5; pp. 4943 - 4949 Vol.5
Main Authors Bosscher, P., Ebert-Uphoff, I.
Format Conference Proceeding
LanguageEnglish
Published Piscataway NJ IEEE 2004
Subjects
Applied sciences
Cables
Cameras
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Gravity
Intelligent robots
Manipulators
Material storage
NIST
Orbital robotics
Robot vision systems
Robotics
Stability
Cable
Energy method
Indeterminate structure
Gripper
Robotics
Manipulator
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Summary:This paper introduces a slope-based measure of the stability of a pose of an underconstrained cable robot. In order to define this measure, the set of twists that the end-effector can instantaneously undergo is found. The measure is then derived using an energy-based approach to generalize the definition of slope for mixed-dimensional twists. In order to more easily understand and calculate the measure an intermediate space is introduced. An example is worked out for a sample manipulator and the stability measure is used to define a measure of overall manipulator stability.
ISBN:9780780382329
0780382323
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1302501