Titlebook: Cable-Driven Parallel Robots; Proceedings of the 6 Stéphane Caro,Andreas Pott,Tobias Bruckmann Conference proceedings 2023 The Editor(s) (i

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Advances in the Use of Neural Network for Solving the Direct Kinematics of CDPR with Sagging Cableslogical improvements that allows to get on average 99.95% of the exact DK solutions in about 5 s. Still this result is not completely satisfactory and we present possible axis to obtain better results in terms of exact results and multiple solutions.

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Statics and Path of the Cables of a Cable-Driven Parallel Robot Wrapping on Surfacesof a path of a cable wrapping on a frictionless surface are proposed. By solving the necessary conditions, the kinematics of a CDPR with cables wrapping on surfaces can be determined. A case study of a CDPR with cables warping on cylinders is provided to demonstrate the kinematics of the CDPR.

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Absolute Nodal Coordinate Finite Element Formulation of Cables for Dynamic Modeling of CDPRswithout introducing rotational degrees of freedom. It relies on deformation energy to derive internal elastic forces and tangent rigidity matrices. Simulation examples on a single cable free fall and modal analysis of a three-cable planar CDPR are provided to illustrate our modeling approach.

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Force Control of a 1-DoF Cable Robot Using ANARX for Output Feedback Linearizationently designed. This approach is holistic and is thus not only applicable for cable robots, but for any class of robots. The resulting controller is evaluated on a physical system and compared with a conventional PID controller.

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https://doi.org/10.1007/978-3-031-32322-5Cable Modeling; Hardware Development; Mechatronics; Robotics; Multibody Dynamics; Computational Kinematic