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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.