Port Hamiltonian Modeling of a Cable Driven Robot

Schenk, C; Yüksel, B; Secchi, C; Bülthoff, HH

doi:10.1016/j.ifacol.2018.06.047

Item

ITEM ACTIONSEXPORT

Add to Basket

Local TagsRelease HistoryDetailsSummary

Released

Conference Paper

Port Hamiltonian Modeling of a Cable Driven Robot

MPS-Authors

/persons/resource/persons192734

Schenk, C
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

/persons/resource/persons83839

Bülthoff, HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

External Resource

https://www.sciencedirect.com/science/article/pii/S2405896318303392
(Publisher version)

Fulltext (restricted access)

There are currently no full texts shared for your IP range.

Fulltext (public)

There are no public fulltexts stored in PuRe

Supplementary Material (public)

There is no public supplementary material available

Citation

Schenk, C., Yüksel, B., Secchi, C., & Bülthoff, H. (2018). Port Hamiltonian Modeling of a Cable Driven Robot. IFAC-PapersOnLine, 51(3), 161-168.

Cite as: https://hdl.handle.net/21.11116/0000-0001-7D4C-F

Abstract

In this paper we present a generic Port-Hamiltonian (PH) model that includes cable dynamics (in particular elasticity and couplings with the platform and all cables among each other) of a cable-driven parallel robot (CDPR), which is used as a motion simulator. Moreover we consider changes in the cable parameters, i.e. it’s elasticity, mass and length when the cables are wound/unwound from the winches. To the best of our knowledge nobody considered such a detailed and generic model of a CDPR in PH structure before. Since motion simulators are built to mimic systems with different physical properties, PH modeling can pave the way for physics-shaping controllers.