Nowadays, being fast and precise are key requirements in Robotics. This work introduces a novel methodology to tune the stiffness of Cable-Driven Parallel Robots (CDPRs) while simultaneously addressing the tension distribution problem. In particular, the approach relies on the Analytic-Centre method. Indeed, weighting the barrier functions makes natural the stiffness adaptation. The intrinsic ability to adjust the stiffness during the execution of the task enables the CDPRs to effectively meet above-mentioned requirements. The capabilities of the method are demonstrated through simulations by comparing it with the existing approach.


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    Title :

    Stiffness-Based Analytic Centre Method for Cable-Driven Parallel Robots


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

    International Conference on Cable-Driven Parallel Robots ; 2025 ; Hong Kong July 08, 2025 - July 11, 2025


    Published in:

    Cable-Driven Parallel Robots ; Chapter : 10 ; 119-129


    Publication date :

    2025-06-19


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English