Abstract
In this work, the application of the Dykstra’s alternating projection method to find the minimum-2-norm solution for actuator forces is discussed in the case when lower and upper bounds are imposed on the actuator forces. The lower bound is due to specified pretension desired in the cables and the upper bound is due to the maximum allowable forces in the cables. This algorithm presents a systematic numerical method to determine whether or not a solution exists to the cable forces within these bounds and, if it does exist, calculate the minimum-2-norm solution for the cable forces for a given task force. This method is applied to an example 2-DOF translational cable-driven manipulator and a geometrical demonstration is presented.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
