Cable Force Calculation Beyond the Wrench-Feasible Workspace by Extending the Closed Form Method
摘要
Cable robots, characterized by their large workspaces, high payloads and an outstanding potential for high accelerations and velocities, are increasingly used in various applications. Cable breaks pose significant safety concerns, as they can lead to loss of control over the platform. After a cable break the platform can be located outside of the Wrench-Feasible Workspace. Existing methods to approximate a desired wrench to stabilise the platform, such as the Slack Variable Optimisation Approach and the Nearest Corner Method, have limitations in terms of continuity and computational efficiency. This paper introduces a new geometric approach for calculating cable forces beyond the Wrench-Feasible Workspace inspired by the Closed Form Method and the Puncture Method. A simulation indicates that the proposed method performs favourably compared to existing approaches, particularly in terms of continuity and calculation time, suggesting its potential suitability for real-time implementation.