Experimental validation of the analytic-centre based tension distribution algorithm for cable driven parallel robots

Abstract

Abstract Cable-Driven Parallel Robots (CDPRs) offer several advantages over traditional parallel robots. Guiding them accurately and safely requires fast Tension Distribution Algorithms (TDAs) able to work in real-time. This paper proposes the experimental validation of our previous TDA namely, the Analytic Centre. The contribution consists of comparing the simulated results with the measured tension profiles to infer the validity of the theoretical outcome. In other words, the idea is to find evidence of the predictions made in simulations. Experiments confirm simulated results supporting the theoretical advantages of the presented Analytic Centre, proving its usefulness.