Wrench-based analysis of cable-driven robots

Wire Robots Part I: Kinematics, Analysis & Design

“…Here discrete methods as well as a continuous method using interval analysis are discussed. Further methods exist as for example presented in (Bosscher & Ebert-Uphoff, 2004), where the workspace boundaries are computed.…”

Wire Robots Part II: Dynamics, Control & Application

“…The shown approaches require the usage of an optimizer to deliver continuous results as shown in ((Verhoeven, 2004), (Nahon & Angeles, 1991), (Bruckmann et al, 2006), (Voglewede & Ebert-Uphoff, 2004) and (Bosscher & Ebert-Uphoff, 2004)). Standard optimizer implementations a s L A P A C K o r t h e N A G ® library require iterative computations, which may not be used within a realtime control system due to their normally non-predictable worst-case runtime.…”

Cooperative manipulation and transportation with aerial robots

“…1). Thus the work on workspace analysis [3,4], control [5], and static analysis [6] of such parallel manipulators is directly relevant to this paper.…”