Forward Kinematic (FK) analysis of under-constrained Cable-Driven Parallel Robots (CDPRs) deals with the inherent coupling between the loop-closure and static equilibrium equations. The non-linearity of the problem is magnified with the addition of the coupling between the cable lengths and their tensions based on the elastic cable model. The paper proposes an unsupervised neural network algorithm to perform fast forward geometrico-static analysis for CDPRs in a suspended configuration with elastic cables. The formulation determines a non-linear function approximation to model the FK and proves to be efficient in solving for consecutive and close waypoints in a path. The methodology is applied on a simulated six-degree-of-freedom (6-DOF) spatial under-constrained suspended cable-driven parallel robot. Specific comparison results to show the effectiveness of the proposed method in tracking a given path are presented against the results obtained from least-square non-linear optimization.
Unsupervised Neural Network Based Forward Kinematics for Cable-Driven Parallel Robots with Elastic Cables
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021
2021-06-01
14 pages
Article/Chapter (Book)
Electronic Resource
English
The Forward Kinematics of the 4-1 Cable-Driven Parallel Robot with Non Elastic Sagging Cables
Springer Verlag | 2020
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