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Port Hamiltonian Modeling of a Cable Driven Robot
{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\textquoterights 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.}
@inproceedings{CTYSB2018, title = {{Port Hamiltonian Modeling of a Cable Driven Robot}}, journal = {{IFAC-PapersOnLine}}, 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\textquoterights 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.}}, volume = {51}, pages = {161--168}, publisher = {Elsevier}, address = {Valpara\'\iso, Chile}, year = {2018}, slug = {ctysb2018}, author = {Schenk, C and Y\"uksel, B and Secchi, C and B\"ulthoff, HH} }