Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo)

Micaël Michelin; Cédric Baradat; Dinh Quan Nguyen; Marc Gouttefarde

doi:10.1007/978-3-319-09489-2_6

Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo)

Micaël Michelin^*, Cédric Baradat, Dinh Quan Nguyen, Marc Gouttefarde

^*Corresponding author for this work

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

23 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Cable-Driven Parallel Robots - Proceedings of the 2nd International Conference on Cable-Driven Parallel Robots
Editors	Andreas Pott, Tobias Bruckmann
Publisher	Kluwer Academic Publishers
Pages	71-83
Number of pages	13
ISBN (Electronic)	9783319094885
DOIs	https://doi.org/10.1007/978-3-319-09489-2_6
Publication status	Published - 2015
Event	2nd International Conference on Cable-Driven Parallel Robots, CableCon 2014 - Duisburg, Germany Duration: 24 Aug 2014 → 27 Aug 2014

Publication series

Name	Mechanisms and Machine Science
Volume	32
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	2nd International Conference on Cable-Driven Parallel Robots, CableCon 2014
Country/Territory	Germany
City	Duisburg
Period	24/08/14 → 27/08/14

Access to Document

10.1007/978-3-319-09489-2_6

Cite this

Michelin, M., Baradat, C., Nguyen, D. Q., & Gouttefarde, M. (2015). Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo). In A. Pott, & T. Bruckmann (Eds.), Cable-Driven Parallel Robots - Proceedings of the 2nd International Conference on Cable-Driven Parallel Robots (pp. 71-83). (Mechanisms and Machine Science; Vol. 32). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-09489-2_6

Michelin, Micaël ; Baradat, Cédric ; Nguyen, Dinh Quan et al. / Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo). Cable-Driven Parallel Robots - Proceedings of the 2nd International Conference on Cable-Driven Parallel Robots. editor / Andreas Pott ; Tobias Bruckmann. Kluwer Academic Publishers, 2015. pp. 71-83 (Mechanisms and Machine Science).

@inproceedings{24b08c6936b64c00b7072a29a896a005,

title = "Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo)",

abstract = "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.",

author = "Mica{\"e}l Michelin and C{\'e}dric Baradat and Nguyen, {Dinh Quan} and Marc Gouttefarde",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 2nd International Conference on Cable-Driven Parallel Robots, CableCon 2014 ; Conference date: 24-08-2014 Through 27-08-2014",

year = "2015",

doi = "10.1007/978-3-319-09489-2_6",

language = "English",

series = "Mechanisms and Machine Science",

publisher = "Kluwer Academic Publishers",

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}

Michelin, M, Baradat, C, Nguyen, DQ & Gouttefarde, M 2015, Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo). in A Pott & T Bruckmann (eds), Cable-Driven Parallel Robots - Proceedings of the 2nd International Conference on Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol. 32, Kluwer Academic Publishers, pp. 71-83, 2nd International Conference on Cable-Driven Parallel Robots, CableCon 2014, Duisburg, Germany, 24/08/14. https://doi.org/10.1007/978-3-319-09489-2_6

Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo). / Michelin, Micaël; Baradat, Cédric; Nguyen, Dinh Quan et al.
Cable-Driven Parallel Robots - Proceedings of the 2nd International Conference on Cable-Driven Parallel Robots. ed. / Andreas Pott; Tobias Bruckmann. Kluwer Academic Publishers, 2015. p. 71-83 (Mechanisms and Machine Science; Vol. 32).

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

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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.

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Michelin M, Baradat C, Nguyen DQ, Gouttefarde M. Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo). In Pott A, Bruckmann T, editors, Cable-Driven Parallel Robots - Proceedings of the 2nd International Conference on Cable-Driven Parallel Robots. Kluwer Academic Publishers. 2015. p. 71-83. (Mechanisms and Machine Science). doi: 10.1007/978-3-319-09489-2_6

Simulation and control with XDE and Matlab/Simulink of a cable-driven parallel robot (CoGiRo)

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