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Diane Bury

2 accepted papers

2020

Continuous Tension Validation for Cable-Driven Parallel Robots

Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux
IROS 2020poster

This paper deals with continuous tension validation for Cable-Driven Parallel Robots (CDPRs). The proposed method aims at determining whether or not a quasi-static path is feasible regarding cable tension limits. The available wrench set (AWS) is the set of wrenches that can be generated with cable…

Cited by 9Source ↗Scholar ↗
2019

Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot

Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux
IROS 2019poster

A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile platform, cables, and arm links). For a pair of bodies, an upper bo…

Cited by 21Source ↗Scholar ↗