Abstract
The paper deals with the problem of smooth motion of the end-effector of an overactuated cable-driven parallel robot. There is observed a way to give planar curvilinear trajectory via Fourie series. The idea of this work is to use special sigmoid function as an argument of function composition to achieve smoothness at the beginning of motion of the end-effector of a cable-driven parallel robot. The developed method makes it possible to reduce the positioning errors of the end-effector when moving along complex trajectories.
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