Performance evaluation of a new design of cable-suspended camera system

Saeed Abdolshah; Damiano Zanotto; Giulio Rosati; Sunil Agrawal

doi:10.1109/ICRA.2017.7989429

Performance evaluation of a new design of cable-suspended camera system

Saeed Abdolshah, Damiano Zanotto, Giulio Rosati, Sunil Agrawal

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

Adaptive cable-driven parallel robots can adjust the position of one or more pulley blocks to optimize performance within a given workspace. Because of their augmented kinematic redundancy, adaptive systems have several advantages over their traditional counterparts featuring the same numbers of cables. In this paper, we explore the application of adaptive cable-driven robots to cable-suspended camera systems. Performance of the traditional and of the adaptive designs are analyzed, using dexterity and stiffness as performance metrics. Results show superior performance of the adaptive design compared to the traditional system. An illustrative design problem for adaptive cable-suspended camera systems is also presented and solved.

Original language	English
Title of host publication	ICRA 2017 - IEEE International Conference on Robotics and Automation
Pages	3728-3733
Number of pages	6
ISBN (Electronic)	9781509046331
DOIs	https://doi.org/10.1109/ICRA.2017.7989429
State	Published - 21 Jul 2017
Event	2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore Duration: 29 May 2017 → 3 Jun 2017

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country/Territory	Singapore
City	Singapore
Period	29/05/17 → 3/06/17

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10.1109/ICRA.2017.7989429

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title = "Performance evaluation of a new design of cable-suspended camera system",

abstract = "Adaptive cable-driven parallel robots can adjust the position of one or more pulley blocks to optimize performance within a given workspace. Because of their augmented kinematic redundancy, adaptive systems have several advantages over their traditional counterparts featuring the same numbers of cables. In this paper, we explore the application of adaptive cable-driven robots to cable-suspended camera systems. Performance of the traditional and of the adaptive designs are analyzed, using dexterity and stiffness as performance metrics. Results show superior performance of the adaptive design compared to the traditional system. An illustrative design problem for adaptive cable-suspended camera systems is also presented and solved.",

author = "Saeed Abdolshah and Damiano Zanotto and Giulio Rosati and Sunil Agrawal",

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doi = "10.1109/ICRA.2017.7989429",

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Abdolshah, S, Zanotto, D, Rosati, G & Agrawal, S 2017, Performance evaluation of a new design of cable-suspended camera system. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989429, Proceedings - IEEE International Conference on Robotics and Automation, pp. 3728-3733, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 29/05/17. https://doi.org/10.1109/ICRA.2017.7989429

Performance evaluation of a new design of cable-suspended camera system. / Abdolshah, Saeed; Zanotto, Damiano; Rosati, Giulio et al.
ICRA 2017 - IEEE International Conference on Robotics and Automation. 2017. p. 3728-3733 7989429 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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PY - 2017/7/21

Y1 - 2017/7/21

N2 - Adaptive cable-driven parallel robots can adjust the position of one or more pulley blocks to optimize performance within a given workspace. Because of their augmented kinematic redundancy, adaptive systems have several advantages over their traditional counterparts featuring the same numbers of cables. In this paper, we explore the application of adaptive cable-driven robots to cable-suspended camera systems. Performance of the traditional and of the adaptive designs are analyzed, using dexterity and stiffness as performance metrics. Results show superior performance of the adaptive design compared to the traditional system. An illustrative design problem for adaptive cable-suspended camera systems is also presented and solved.

AB - Adaptive cable-driven parallel robots can adjust the position of one or more pulley blocks to optimize performance within a given workspace. Because of their augmented kinematic redundancy, adaptive systems have several advantages over their traditional counterparts featuring the same numbers of cables. In this paper, we explore the application of adaptive cable-driven robots to cable-suspended camera systems. Performance of the traditional and of the adaptive designs are analyzed, using dexterity and stiffness as performance metrics. Results show superior performance of the adaptive design compared to the traditional system. An illustrative design problem for adaptive cable-suspended camera systems is also presented and solved.

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Performance evaluation of a new design of cable-suspended camera system

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