Alena Sidorova
Publications:
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Marchuk E. A., Kalinin Y. V., Sidorova A. V., Maloletov A. V.
On the Problem of Position and Orientation Errors of a Large-Sized Cable-Driven Parallel Robot
2022, Vol. 18, no. 5, pp. 755-770
Abstract
This paper deals with the application of force sensors to estimate position errors of the center
of mass of the mobile platform of a cable-driven parallel robot. Conditions of deformations of
cables and towers of the robot are included in the numerical model and external disturbance is
included too. The method for estimating the error in positioning via force sensors is sensitive
to the magnitude of spatial oscillations of the mobile platform. To reduce torsional vibrations
of the mobile platform around the vertical axis, a dynamic damper has been included into the
system.
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