Extending Dynamic Trajectories of Cable-Driven Parallel Robots as a Novel Robotic Roller Coaster
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 7Language: englishTyp: PDF
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Authors:
Schmidt, Valentin; Kraus, Werner; Ho, Wei Yang; Pott, Andreas; Verl, Alexander (Fraunhofer IPA, Stuttgart, Germany)
Seon, Jeongan; Park, Jong-Oh (Chonnam National University, South Korea)
Abstract:
This paper covers the extension and control of dynamic trajectories for cable-driven parallel robots and measurement of their accuracy. At first a theoretical background is given and themathematical constructs to ensure that all cables can are under tension for a suspended 3-cable cable-driven parallel robot. Then an insight into a user friendly control method is given in which several different types of trajectories, straight line, elliptical and more complex 3-D trajectories are realized. The use case of a novel robotic rollercoaster is further analyzed to identify necessary technological developments. One important factor that needs to be reviewed is the aspect of ensuring safety.