TY - GEN
T1 - Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo)
AU - Michelin, Micaël
AU - Baradat, Cédric
AU - Nguyen, Dinh Quan
AU - Gouttefarde, Marc
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2015.
PY - 2015
Y1 - 2015
N2 - We present in this paper the process allowing to create a cable-driven parallel robot (CDPR) simulation within the XDE software environment in C++ language. The elementary classes constituting a CDPR are shown with their constructor specificities. The winches, the pulleys, the cable fastenings and the platform are presented. The parameterization of elements such as the cable material characteristics, structure and size are detailed. An interface between the XDE cable-driven parallel robot simulator and a Matlab/Simulink controller have been developed. Inputs and outputs are exchanged between the controller and the simulated cable-driven robot, exactly as it is done with a physical robot.
AB - We present in this paper the process allowing to create a cable-driven parallel robot (CDPR) simulation within the XDE software environment in C++ language. The elementary classes constituting a CDPR are shown with their constructor specificities. The winches, the pulleys, the cable fastenings and the platform are presented. The parameterization of elements such as the cable material characteristics, structure and size are detailed. An interface between the XDE cable-driven parallel robot simulator and a Matlab/Simulink controller have been developed. Inputs and outputs are exchanged between the controller and the simulated cable-driven robot, exactly as it is done with a physical robot.
UR - http://www.scopus.com/inward/record.url?scp=84927665026&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-09489-2_6
DO - 10.1007/978-3-319-09489-2_6
M3 - Conference contribution
AN - SCOPUS:84927665026
T3 - Mechanisms and Machine Science
SP - 71
EP - 83
BT - Cable-Driven Parallel Robots - Proceedings of the 2nd International Conference on Cable-Driven Parallel Robots
A2 - Pott, Andreas
A2 - Bruckmann, Tobias
PB - Kluwer Academic Publishers
T2 - 2nd International Conference on Cable-Driven Parallel Robots, CableCon 2014
Y2 - 24 August 2014 through 27 August 2014
ER -