Abstract
The study of cable-driven parallel robots (CDPRs) has motivated numerous applications in recent years. Using a numerical CDPR modelling approach, the Cable-robot Analysis and Simulation Platform for Research (CASPR) allows simulations and analyses to be performed on arbitrary types of CDPRs. However, the inadequate computational speed of system dynamics hinders the use of CASPR in fast analyses and real-time control on CDPRs. In this paper, a generalised model compilation method is presented to improve the computational speed of system dynamics. By generating symbolic expressions of the system dynamics and compiling the variables into closed-form functions, improvements from 11 to 23 times in computational speed are achieved. Case studies in forward kinematics, inverse dynamics and workspace analysis are performed to demonstrate the benefits of the compilation, and the potential for extending the method to other robotic systems.
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