This repository contains utilities for the simulation of the CDPR prototypes developed at GRAB lab, within the Department of Industrial Engineering of the University of Bologna. They are …

Aug 1, 2015 · We present in this paper the process allowing to create a cable-driven parallel robot (CDPR) simulation within the XDE software environment in C\ ( {+} {+}\) language. The …

Jan 1, 2019 · This paper presents the control of an under-constrained 4 Cable-Driven Parallel Robot (CDPR) using input-output feedback linearization technique. The dynamic model of the …

Jan 1, 2014 · Section 2 introduces the concepts of simulating a CDPR in XDE, including the key features of XDE and the method to construct different parts of a CDPR (e.g. winch system, …

Another approach using XDE ([3]) and Matlab/Simulink to create a simulation and control of a CDPR is seen in [4]. We have chosen to assess the Gazebo simulator [5]. Gazebo is an open …

We present in this paper the process allowing to create a cable-driven parallel robot (CDPR) simulation within the XDE software environment in C++ language. The elementary classes …

A very basic PID controller can be tested using rosrun cdpr pid_control. The controller does not take into account the positive-only tensions and is just here to show the use of the CDPR class …

Mar 25, 2022 · Kinematic and static models were required to simulate and control the CDPR using a control system implemented in MATLAB/Simulink. [4] introduced the SPIDERobot: a four …

The aim is to control the mass position through three cables, and hence three actuators. As the result CDPR's system identification has been successfully achieved by using MATLAB's …

We aim to develop a cable-driven robot simulation framework based on XDE which offers the user two main features: simulation and control of CDPR with XDE and MATLAB/Simulink. The …