Dynamic Parameter Identification for Cable-Driven Parallel Robots
Tahir Rasheed,
Loic Michel,
Stéphane Caro
et al.
Abstract:This paper presents an initial work of identifying the dynamic parameters for cable-driven parallel robot (CDPR), CRAFT with a rigorous protocol. An orbital trajectory of the platform is designed in order to get a pure translation movement of the platform. This trajectory evolves in a plane and allows the identification of four dynamic parameters, the mass of the platform and the first three moments along the three main axes. The identification results obtained respectively from the data from the experimental … Show more
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