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dc.contributor.authorUeland, Einar Skiftestad
dc.contributor.authorSauder, Thomas Michel
dc.contributor.authorSkjetne, Roger
dc.date.accessioned2022-09-30T08:29:33Z
dc.date.available2022-09-30T08:29:33Z
dc.date.created2020-10-17T12:51:35Z
dc.date.issued2020
dc.identifier.citationIEEE Transactions on Robotics. 2020, 37 (2), 659-666.en_US
dc.identifier.issn1552-3098
dc.identifier.urihttps://hdl.handle.net/11250/3022754
dc.description.abstractIn this article, we present a novel method for force allocation for overconstrained cable-driven parallel robot setups that guarantees continuously differentiable cable forces and allows for small penalized errors in the resulting wrench. For the latter, we also provide a bound on the error under some assumptions. We study real-time feasibility by performing numerical simulations on a large set of configurations.en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.urihttps://www.sintef.no/en/projects/real-time-hybrid-model-testing/
dc.subjectKybernetikken_US
dc.subjectCyberneticsen_US
dc.subjectMarin kybernetikken_US
dc.subjectMarine cyberneticsen_US
dc.subjectBevegelsesstyringen_US
dc.subjectMotion controlen_US
dc.subjectKraftallokeringen_US
dc.subjectForce allocationen_US
dc.titleOptimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiencyen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionacceptedVersionen_US
dc.rights.holder© IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
dc.subject.nsiVDP::Annen marin teknologi: 589en_US
dc.subject.nsiVDP::Other marine technology: 589en_US
dc.source.pagenumber659-666en_US
dc.source.volume37en_US
dc.source.journalIEEE Transactions on Roboticsen_US
dc.source.issue2en_US
dc.identifier.doi10.1109/TRO.2020.3020747
dc.identifier.cristin1840301
dc.relation.projectNorges forskningsråd: 223254en_US
dc.relation.projectNorges forskningsråd: 254845en_US
cristin.ispublishedtrue
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