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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Original languageEnglish
Title of host publication4th IEEE Colombian Conference on Automatic Control
Subtitle of host publicationAutomatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings
EditorsJose Garcia-Tirado, Diego Munoz-Durango, Hernan Alvarez, Hector Botero-Castro
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538669624
DOIs
StatePublished - Oct 2019
Event4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia
Duration: 15 Oct 201918 Oct 2019

Publication series

Name4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

Conference

Conference4th IEEE Colombian Conference on Automatic Control, CCAC 2019
CountryColombia
CityMedellin
Period15/10/1918/10/19

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

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