A semi-implicit homogeneous discretized differentiator based on two projectors: experimental validation on a cable-driven parallel robot

A semi-implicit homogeneous discretized differentiator based on two projectors: experimental validation on a cable-driven parallel robot

This work is dedicated to the application of a semi-implicit homogeneous differentiator to estimate the angular velocity and the angular acceleration of each of the eight electric motors of the CRAFT cable-driven parallel robot from the recording of the angular position of their respective output sh...

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Bibliographic Details
Main Authors: Michel Loic, Métillon Marceau, Caro Stéphane, Ghanes Malek, Plestan Franck, Barbot Jean-Pierre, Aoustin Yannick
Format: Article
Language:English
Published: EDP Sciences 2024-01-01
Series:Mechanics & Industry
Subjects:
cable-driven parallel robot
velocity estimation
acceleration estimation
homogeneous differentiators
homogeneous discretized differentiators
semi-implicit euler discretization
projectors
Online Access:https://www.mechanics-industry.org/articles/meca/full_html/2024/01/mi230019/mi230019.html

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https://www.mechanics-industry.org/articles/meca/full_html/2024/01/mi230019/mi230019.html

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