A semi-implicit homogeneous discretized differentiator based on two projectors: experimental validation on a cable-driven parallel robot
Loic Michel,
Marceau Métillon,
Stéphane Caro
et al.
Abstract:This work is dedicated to the application of a semi-implicit homogeneous differentiator to estimate the angular velocity and the angular acceleration of each of the eight electric motors of the CRAFT cable-driven parallel robot from the recording of the angular position of their respective output shaft. These motors drive the winding or unwinding of eight cables to move the robot moving-platform. The results show that this differentiator, whose the definition is respectively based on two projectors, is an extr… Show more
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