Domenico Dona'

X-ACTA: eXtended Analytic Center Tension distribution Algorithm for fixed and mobile cable-driven-parallel-robot

Domenico Dona', Vincenzo Di Paola, Alberto Trevisani, Matteo Zoppi

Steering Cable-Driven Parallel Robots (CDPRs) beyond their Wrench-Feasible Workspace (WFW) augments their capabilities in challenging scenarios such as during aggressive maneuvers or following a cable failure. In this context, although the determination of cable tensions is a wel…Read more