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Chapitre D'ouvrage Année : 2019

Cable-Driven Parallel Robot Simulation Using Gazebo and ROS

Résumé

In this paper, we present a simulator that has been developed using Gazebo and ROS to study cable-driven parallel robots. Real-time dynamic simulation of such robots is an efficient approach to develop new control laws that may integrate various sensors. The limitations of Gazebo are dealt with, as we model the cables under tension as mass-less U − P − S links with the prismatic joint actuated. We illustrate the proposed simulator with a dynamic controller, detailing the tension distribution and performing various trajectories.
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Dates et versions

hal-02405560 , version 1 (11-12-2019)

Identifiants

Citer

Franklin Okoli, Yuchuan Lang, Olivier Kermorgant, Stéphane Caro. Cable-Driven Parallel Robot Simulation Using Gazebo and ROS. In: Arakelian V., Wenger P. (eds) ROMANSY 22 - Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences (Courses and Lectures), vol. 584, Springer, Cham., pp.288-295, 2019, 978-3-319-78962-0. ⟨10.1007/978-3-319-78963-7_37⟩. ⟨hal-02405560⟩
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