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CASPR-ROS: A Generalised Cable Robot Software in ROS for Hardware

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Cable-Driven Parallel Robots

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 53))

Abstract

In this paper, the software platform CASPR-ROS is introduced to extend the author’s recently developed simulation platform CASPR. To the authors’ knowledge, no single software framework exists to implement different types of analyses onto different hardware platforms. This new platform therefore takes the advantages of CASPR, including its generalised CDPR model and library of different analysis tools, and combines them with the modular and flexible hardware interfacing of ROS. Using CASPR-ROS, hardware based experiments can be performed on arbitrarily CDPR types and structures, for a wide range of analyses, including kinematics, dynamics and control. The case studies demonstrate the potential to perform experiments on CDPRs, directly compare algorithms and conveniently add new models and analyses. Two robots are considered, a spatial cable robot actuated by PoCaBot units and an anthropomorphic arm actuated by MYO-muscle units.

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Notes

  1. 1.

    A detailed explanation of CASPR models and the use of XML scripts is provided in [21].

  2. 2.

    PoCaBot unit specifications can be found at https://github.com/darwinlau/CASPR/wiki.

  3. 3.

    The case study specifications can be found in the folder data/model_config/models at the repository https://github.com/darwinlau/CASPR. Case Studies 1 and 2 are contained in the folders PoCaBot_spatial and BM_arm, respectively.

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Acknowledgements

The work was supported by a grant from the Germany/Hong Kong Joint Research Scheme sponsored by the Research Grants Council of Hong Kong and the German Academic Exchange Service of Germany (Reference No. G-CUHK410/16). Acknowledgements to the CUHK T-Stone Robotics Institute for supporting this work.

Author information

Authors and Affiliations

  1. The University of Melbourne, Melbourne, Australia

    Jonathan Eden, Ying Tan & Denny Oetomo

  2. The Chinese University of Hong Kong, Sha Tin, Hong Kong

    Jonathan Eden, Chen Song & Darwin Lau

Authors
  1. Jonathan Eden
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  2. Chen Song
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  3. Ying Tan
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  4. Denny Oetomo
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  5. Darwin Lau
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Corresponding author

Correspondence to Jonathan Eden .

Editor information

Editors and Affiliations

  1. Fac. Sciences et de Génie, Université Laval, Quebec City, Québec, Canada

    Clément Gosselin

  2. Mechanical Engineering, Université Laval, Quebec City, Québec, Canada

    Philippe Cardou

  3. Chair for Mechatronics, Universität Duisburg-Essen, Duisburg, Nordrhein-Westfalen, Germany

    Tobias Bruckmann

  4. Fraunhofer-Institut fĂĽr Produktionstechnik und Automatisierung IPA, Stuttgart, Baden-WĂĽrttemberg, Germany

    Andreas Pott

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Eden, J., Song, C., Tan, Y., Oetomo, D., Lau, D. (2018). CASPR-ROS: A Generalised Cable Robot Software in ROS for Hardware. In: Gosselin, C., Cardou, P., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-319-61431-1_5

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  • DOI: https://doi.org/10.1007/978-3-319-61431-1_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61430-4

  • Online ISBN: 978-3-319-61431-1

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