Improved Modeling of Kinematics and Dynamics of Light-Weight Parallel Robots
Philipp Tempel and Andreas Pott
- Experimentally validated cable elasticity model based on standard linear solid model;
- Built COPacabana cable robot as validation and test bed for my research;
- Derived and validated cable dynamics model based on Cosserat theory of elastic bodies;
- Estimated in experiments inertial and mechanical parameters of cable robots CoGiRo, COPacabana, IPAnema;
- Implemented real-time motion control and real-time workspace calculation of cable robots in C/C++ and ROS;
- Implemented design and analysis algorithms of cable robots in GUI software WireCenter in C/C++ 11;
- Created and validated general-purpose MATLAB/Simulink real-time simulation toolbox CDPRlab for cable robots;
- Collaborated with Fraunhofer IPA on industrialization of cable robot technology and industrial use cases;
- Developed python package CDPyR for design and analysis of cable robots;
- Joined Joint Robotics Laboratory, Chonnam National University, Gwangju, Republic of Korea as invited researcher;
- Joined Laboratory of Informatics, Robotics and Microelectronics of Montpellier, France as visiting researcher;
Resulting work
- Modeling of Elastic-Flexible Cables with Time-Varying Length for Cable-Driven Parallel Robots (2019)
- Experimental Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for Improving Cable Tension Control Strategies (2019)
- Dynamics of Cable-Driven Parallel Robots with Elastic and Flexible, Time-Varying Length Cables (2019)
- A Unified Approach to Forward Kinematics for Cable-Driven Parallel Robots Based on Energy (2019)
- Improved Modeling of Kinematics and Dynamics of Cables for Use in Cable-Driven Parallel Robots (2018)
- The Dynamics of Cable-Driven Parallel Robots with Elastic and Flexible, Time-Varying Length Cables (2018)
- The Dynamics of Cable-Driven Parallel Robots with Elastic and Flexible, Time-Varying Length Cables (2018)
- Modeling Dynamics of Cables for Use in Cable-Driven Parallel Robots (2018)
- Application of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robots (2018)
- Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Comparison of Rigid-Finite-Element and Rayleigh-Ritz Based Cable Models: Poster (2017)
- Estimating Inertial Parameters of Suspended Cable-Driven Parallel Robots: Use Case on CoGiRo (2017)
- Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots (2016)
- Parallele Seilroboter in Theorie und Praxis: Leichtbau, Energieeffizienz und hohe Dynamiken als Potential, Elastizität als Hauptherausforderung (2016)
- On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots (2016)
- Modeling of Cable-Driven Parallel Robots with Hefty Cables: Research Visit Report (2016)
- Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Modeling of Force Distribution along Kinematic Loops Including Pulley Friction: Poster (2016)
- Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots (2016)
- Improved Modeling of Cables for Kinematics and Dynamics of Cable-Driven Parallel Robots: Milestone Report (2016)
- Cable-Driven Parallel Robots: Expo 2015 - Forth and Back Again (2016)
- Stuttgarter Simulationsforscher bei EXPO 2015 in Mailand: Simulation Technology Success Stories (2015)
- Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis (2015)
- Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3 (2015)
- Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Status Update (2015)
- Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Experimental Validation of a Real-Time Capable Cable Robot Simulation Model: Poster (2015)
- Improved Modeling of Cables for Kinematics and Dynamics of Cable-Driven Parallel Robots: Milestone Presentation (2015)
- Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015 (2015)
- Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Kinematics Modeling of Large-Scale Cable-driven Parallel Robots: Milestone Report (2014)
- Improved Modeling of Cables for Kinematics and Dynamics of Cable-Driven Parallel Robots: Status Update (2014)