Program

   

CableCon

Virtual Conference, July 7 - 9, 2021

 

General Chairs


Marc Gouttefarde, LIRMM, Univ Montpellier, CNRS, Montpellier France (marc.gouttefarde@lirmm.fr)

Tobias Bruckmann, University of Duisburg-Essen (tobias.bruckmann@uni-due.de)

Andreas Pott, University of Stuttgart (andreas.pott@isw.uni-stuttgart.de)

 

Program

The indicated presentation time for each paper is the one in Central Europe (GMT+2, e.g. Germany and France).

Paper presentations: 15 minutes comprising 10 - 12 minutes for online oral presentation and 3 - 5 min for questions.

 

Wednesday, 7 July 2021 – Morning

09:50 – 10:00 - Welcome Address

Tobias Bruckmann, Marc Gouttefarde, Andreas Pott

 

Session 1  -  10:00 – 11:00 - Session chair: Marco Carricato

10:00 – 10:15

Jean-Pierre Merlet

Efficient Kinematics of a 2-1 and 3-1 CDPR with Non-elastic Sagging Cables

 

10:15 – 10:30

Dinh Quan Nguyen

Kinematics of a 2-DOF Planar Suspended Cable-Driven Parallel Robot

 

10:30 – 10:45

Yaoxin Guo and Darwin Lau

Heuristic-Based Design Framework for the Cable Arrangement of Cable-Driven Parallel Robots

 

10:45 – 11:00

Yu Zhou, Bin Zhang, Weiwei Shang, and Shuang Cong

Configuration Optimization of an Auto-reconfigurable Cable-Driven Upper-Limb Rehabilitation Robot

 

11:00 – 11:20 : Break

 

Session 2 - 11:20 – 12:20 - Session chair: Stéphane Caro

11:20 – 11:35

Valentina Mattioni, Edoardo Idà, and Marco Carricato

Force-Distribution Sensitivity to Cable-Tension Errors: A Preliminary Investigation

 

11:35 – 11:50

Jean-Pierre Merlet

Maximal Cable Tensions of a N-1 Cable-Driven Parallel Robot with Elastic or Ideal Cables

 

11:50 – 12:05

Adel Ameri, Amir Molaei, and Mohammad A. Khosravi

Nonlinear Observer-Based Tension Distribution for Cable-Driven Parallel Robots

 

12:05 – 12:20

Marc Fabritius, Christoph Martin, Guillermo Rubio Gomez, Werner Kraus, and Andreas Pott

A Practical Force Correction Method for Over-Constrained Cable-Driven Parallel Robots

 

12:20 – 12:40 : Break

 

Session 3 - 12:40 – 13:25 - Session chair: Jean-Pierre Merlet

12:40 – 12:55

Utkarsh A. Mishra and Stéphane Caro

Unsupervised Neural Network Based Forward Kinematics for Cable-Driven Parallel Robots with Elastic Cables

 

12:55 – 13:10

Sebastian Schröder

Under Constrained Cable-Driven Parallel Robot for Vertical Green Maintenance

 

13:10 – 13:25

Edoardo Idà and Marco Carricato

A New Performance Index for Underactuated Cable-Driven Parallel Robots

 

Thursday, 8 July 2021 – Afternoon

 

Session 1 - 14:00 – 15:00 - Session chair: Tobias Bruckmann

14:00 – 14:15

David Lukas Winter and Christoph Ament

Development of Safety Concepts for Cable-Driven Parallel Robots

 

14:15 – 14:30

Marceau Métillon, Nicolò Pedemonte, and Stéphane Caro

Evaluation of a Cable-Driven Parallel Robot: Accuracy, Repeatability and Long-Term Running

 

14:30 – 14:45

Ishan Chawla, Pushparaj Mani Pathak, Leila Notash, Arun Kumar Samantaray, Qingguo Li, and Umesh Kumar Sharma

Neural Network-Based Inverse Kineto-Static Analysis of Cable-Driven Parallel Robot Considering Cable Mass and Elasticity

 

14:45 – 15:00

Nasrollah Khodadadi, Mohammad Isaac Hosseini, S. Ahmad Khalilpour, Hamid D. Taghirad, and Philippe Cardou

Multi Objective Optimization of a Cable-Driven Robot with Parallelogram Links

 

15:00 – 15:20 : Break

 

Session 2 - 15:20 – 16:20 - Session chair: Philippe Cardou

15:20 – 15:35

Vinh Le Nguyen and Ryan James Caverly

CDPR Forward Kinematics with Error Covariance Bounds for Unconstrained End-Effector Attitude Parameterizations

 

15:35 – 15:50

Adhiti Raman, Matthias Schmid, and Venkat N. Krovi

Wrench Analysis of Kinematically Redundant Planar CDPRs

 

15:50 – 16:05

Matthew Skopin, Philip Long, and Taskin Padir

Design of a Docking System for Cable-Driven Parallel Robot to Allow Workspace Reconfiguration in Cluttered Environments

 

16:05 – 16:20

Mitchell Rushton and Amir Khajepour

Variable-Structure Cable-Driven Parallel Robots

 

16:20 – 16:40 : Break

 

Session 3 - 16:40 – 17:25 - Session chair: Hamid Taghirad

16:40 – 16:55

Roland Boumann and Tobias Bruckmann

An Emergency Strategy for Cable Failure in Reconfigurable Cable Robots

 

16:55 – 17:10

Thomas Reichenbach, Kathrin Rausch, Felix Trautwein, Andreas Pott, and Alexander Verl

Velocity Based Hybrid Position-Force Control of Cable Robots and Experimental Workspace Analysis

 

17:10 – 17:25

Hanie Marufkhani and Mohammad A. Khosravi

Constrained Optimal Control of Cable-Driven Parallel Robots Based on SDRE

 

Friday, 9 July 2021 – Morning

 

Session 1 - 10:00 – 11:00 - Session chair: Darwin Lau

10:00 – 10:15

João Cavalcanti Santos and Marc Gouttefarde

A Simple and Efficient Non-model Based Cable Tension Control

 

10:15 – 10:30

Marcus Hamann and Christoph Ament

Model-Based Control of a Planar 3-DoF Cable Robot Using Exact Linearization

 

10:30 – 10:45

Jonas Bieber, David Bernstein, Micha Schuster, Konrad Wauer, and Michael Beitelschmidt

Motor Current Based Force Control of Simple Cable-Driven Parallel Robots

 

10:45 – 11:00

Zane Zake, François Chaumette, Nicolò Pedemonte, and Stéphane Caro

Control Stability Workspace for a Cable-Driven Parallel Robot Controlled by Visual Servoing

 

11:00 – 11:20 : Break

 

Session 2 - 11:20 – 12:20 - Session chair: Andreas Pott

11:20 – 11:35

Erik Hildebrandt, Tobias Handreg, Steffen Dryba, Pascal Froitzheim, Wilko Flügge, and Christoph Woernle

Modeling and Observer-Based Control of a Planar Two-Cable Crane Manipulator

 

11:35 – 11:50

Chun Ming Leung, Wai Yi Lam, Chun Keung Kwok, and Darwin Lau

Real-World Development of a Cleaning CDPR for Primary Lamella Sedimentation Tanks

 

11:50 – 12:05

Micaël Michelin, Pierre Elie Hervé, Olivier Tempier, Jean Baptiste Izard, and Marc Gouttefarde

Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot

 

12:05 – 12:20

Felix Trautwein, Thomas Reichenbach, Andreas Pott, and Alexander Verl

Workspace Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots

 

12:20 – 12:40 : Break

 

Session 3  -  12:40 – 13:25 - Session chair: Marc Gouttefarde

12:40 – 12:55

Pauline Marie Nüsse, Marcus Hamann, David Lukas Winter, and Christoph Ament

Development of an Active End Effector for Cable Robot Calibration

 

12:55 – 13:10

Alejandro Rodriguez-Barroso and Roque Saltaren

Cable-Driven Robot to Simulate the Buoyancy Force for Improving the Performance of Underwater Robots

 

13:10 – 13:25

Christoph Martin, Marc Fabritius, Johannes T. Stoll, and Andreas Pott

Accuracy Improvement for CDPRs Based on Direct Cable Length Measurement Sensors

 

13:30 – 14:00

Awards (Research Best Paper, Application Best Paper, Student Best Paper) and Closing Address

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