Wrench-feasible workspace analysis considering aerodynamics of aerial robotic camera under high speed

Do, Hyun-Dong; Seo, Jung Hun; Park, Jong-Oh; Park, Kyoung‐Su

doi:10.1007/s00542-016-3245-0

Cited by 1 publication

(2 citation statements)

References 18 publications

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“…According to Equation (3), let ω = {w1,…,wn} be the set of column vectors of given wrench matrix; the external wrench ψe can be considered as a non-negative combination of ω since t ≥ 0. Let Sψ be the set of all nonnegative combinations of ω and can be expressed as (5).…”

Section: The Properties Of Wrench-closure Workpacementioning

confidence: 99%

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Wrench-Closure Condition of Cable-Driven Parallel Manipulators

Luan

Thinh

2021

Applied Sciences

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Cable-driven parallel manipulators (CDPM) have parallel structures that consist of moving platforms connected to the fixed platform through many flexible cables. The moving platform is driven by many winches, and because of the unidirectional property of cables (cables can only pull and not push in the moving platform), some specific workspaces of CDPM are limited and often do not exist (Gouttefarde and Gosselin 2006). Therefore, determining workspaces for CDPM become an important task, in order to easily plan the trajectory or control the robot. In this paper, we are interested in a set of poses of moving platforms, in which CDPM is always able to generate wrenches that balance any given external wrench exerted on the moving platform. This set of poses is also called wrench-closure workspace (WCW). In this work, we propose a novel procedure used to determine whether a pose of moving platform belongs to WCW. The condition used to check the feasibility of a certain pose in WCW is also called wrench closure condition (WCC). The proposed WCC is able to apply to completely or redundantly restrained CDPM. By analyzing the geometric properties of CDPM and applying the method used to check the feasibility of a system of inequalities, the algorithm used to check the presence of a given pose in WCW is established. To verify the performance of the proposed WCC, the test has been done in two different CDPMs that are clearly described in the introduction section.

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Section: The Properties Of Wrench-closure Workpacementioning

confidence: 99%

“…The giant CDPM developed by Salafian and Iman was applied in agriculture [4]. Aerial robotic cameras used for broadcasting are studied in [5]. Besides the advantages that it brings, the use of cables instead of rigid links also presents many issues for CDPM.…”

Section: Introduction 1motivationmentioning

confidence: 99%

Wrench-Closure Condition of Cable-Driven Parallel Manipulators

Luan

Thinh

2021

Applied Sciences

View full text Add to dashboard Cite

show abstract

Wrench-feasible workspace analysis considering aerodynamics of aerial robotic camera under high speed

Cited by 1 publication

References 18 publications

Wrench-Closure Condition of Cable-Driven Parallel Manipulators

Wrench-Closure Condition of Cable-Driven Parallel Manipulators

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