Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement

Marco A. Carpio; Raul E. Astudillo; Jose M. Aller; Roque J. Saltaren; Alejandro Rodriguez; Gerardo A. Portilla; Juan S. Cely

doi:10.1109/CCAC.2019.8921200

Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement

Marco A. Carpio, Raul E. Astudillo, Jose M. Aller, Roque J. Saltaren, Alejandro Rodriguez, Gerardo A. Portilla, Juan S. Cely

Energy Research Group (GIE)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Original language	English
Title of host publication	4th IEEE Colombian Conference on Automatic Control
Subtitle of host publication	Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings
Editors	Jose Garcia-Tirado, Diego Munoz-Durango, Hernan Alvarez, Hector Botero-Castro
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538669624
DOIs	https://doi.org/10.1109/CCAC.2019.8921200
State	Published - Oct 2019
Event	4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia Duration: 15 Oct 2019 → 18 Oct 2019

Publication series

Name	4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

Conference

Conference	4th IEEE Colombian Conference on Automatic Control, CCAC 2019
Country	Colombia
City	Medellin
Period	15/10/19 → 18/10/19

Bibliographical note

Funding Information:
ACKOWLEDGMENT This research was supported in part by the Spanish Government Projects under Grant DPI2014-57220-C2-1-P, Grant PGC2018-095939-B-100, in part by the ”RoboCity2030 DIH-CM Madrid Robotic Digital Innovation Hub, S2018/NMT-4331 and funded by the ”Programas Actividades I+D en la Comunidad de Madrid”, in part by Structural Funds of the EU and in part by the GIIRA research group at Universidad Politécnica Salesiana, Ecuador. We want to thank Professor José Alex Restrepo at the Universidad Técnica del Norte for his valuable collaboration in the final edition of this paper.

Keywords

Adams View
Cable Driven Parallel Robot
Jacobean Matrix
MATLAB
Theory of Screws

Access to Document

10.1109/CCAC.2019.8921200

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Carpio, M. A., Astudillo, R. E., Aller, J. M., Saltaren, R. J., Rodriguez, A., Portilla, G. A., & Cely, J. S. (2019). Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement. In J. Garcia-Tirado, D. Munoz-Durango, H. Alvarez, & H. Botero-Castro (Eds.), 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings [8921200] (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCAC.2019.8921200

Carpio, Marco A. ; Astudillo, Raul E. ; Aller, Jose M. ; Saltaren, Roque J. ; Rodriguez, Alejandro ; Portilla, Gerardo A. ; Cely, Juan S. / Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement. 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings. editor / Jose Garcia-Tirado ; Diego Munoz-Durango ; Hernan Alvarez ; Hector Botero-Castro. Institute of Electrical and Electronics Engineers Inc., 2019. (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings).

@inproceedings{937079f7ebe9452a8620d9659bf04afa,

title = "Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement",

keywords = "Adams View, Cable Driven Parallel Robot, Jacobean Matrix, MATLAB, Theory of Screws",

author = "Carpio, {Marco A.} and Astudillo, {Raul E.} and Aller, {Jose M.} and Saltaren, {Roque J.} and Alejandro Rodriguez and Portilla, {Gerardo A.} and Cely, {Juan S.}",

year = "2019",

month = oct,

doi = "10.1109/CCAC.2019.8921200",

language = "English",

series = "4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

editor = "Jose Garcia-Tirado and Diego Munoz-Durango and Hernan Alvarez and Hector Botero-Castro",

booktitle = "4th IEEE Colombian Conference on Automatic Control",

address = "United States",

}

Carpio, MA, Astudillo, RE, Aller, JM, Saltaren, RJ, Rodriguez, A, Portilla, GA & Cely, JS 2019, Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement. in J Garcia-Tirado, D Munoz-Durango, H Alvarez & H Botero-Castro (eds), 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings., 8921200, 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings, Institute of Electrical and Electronics Engineers Inc., 4th IEEE Colombian Conference on Automatic Control, CCAC 2019, Medellin, Colombia, 15/10/19. https://doi.org/10.1109/CCAC.2019.8921200

Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement. / Carpio, Marco A.; Astudillo, Raul E.; Aller, Jose M.; Saltaren, Roque J.; Rodriguez, Alejandro; Portilla, Gerardo A.; Cely, Juan S.

4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings. ed. / Jose Garcia-Tirado; Diego Munoz-Durango; Hernan Alvarez; Hector Botero-Castro. Institute of Electrical and Electronics Engineers Inc., 2019. 8921200 (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement

AU - Carpio, Marco A.

AU - Astudillo, Raul E.

AU - Aller, Jose M.

AU - Saltaren, Roque J.

AU - Rodriguez, Alejandro

AU - Portilla, Gerardo A.

AU - Cely, Juan S.

PY - 2019/10

Y1 - 2019/10

KW - Adams View

KW - Cable Driven Parallel Robot

KW - Jacobean Matrix

KW - MATLAB

KW - Theory of Screws

UR - http://www.scopus.com/inward/record.url?scp=85077965886&partnerID=8YFLogxK

U2 - 10.1109/CCAC.2019.8921200

DO - 10.1109/CCAC.2019.8921200

M3 - Conference contribution

AN - SCOPUS:85077965886

T3 - 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

BT - 4th IEEE Colombian Conference on Automatic Control

A2 - Garcia-Tirado, Jose

A2 - Munoz-Durango, Diego

A2 - Alvarez, Hernan

A2 - Botero-Castro, Hector

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 15 October 2019 through 18 October 2019

ER -

Carpio MA, Astudillo RE, Aller JM, Saltaren RJ, Rodriguez A, Portilla GA et al. Cables configuration analysis for a planar CDPR, based on the lowest kinematic energy for a rotation movement. In Garcia-Tirado J, Munoz-Durango D, Alvarez H, Botero-Castro H, editors, 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2019. 8921200. (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings). https://doi.org/10.1109/CCAC.2019.8921200