Аннотация:
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.
Ключевые слова:cable, robot, additive, printing, position, orientation, errors, force sensors.
Поступила в редакцию: 19.09.2022 Принята в печать: 16.11.2022