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Program
Virtual Conference, July 7 - 9, 2021
General Chairs
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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