View source for Planar cable robot with non straight cables

=Assumed-mode-based dynamic model for cable robots with non-straight cables=

This Maple script comes with the publication by J. Ayala Cuevas et al. about modeling of a planar cable-driven parallel manipulator with a point platform. It derives step by step the model. 

[[File:CodeGeneratorCDPR-2.pdf|thumb|Maple script]]

J. Ayala Cuevas, E. Laroche, O. Piccin. Assumed-mode-based dynamic model for cable robots with non-straight cables, ''Third International Conference on Cable-Driven Parallel Robots'', Mechan. Machine Science, Vol. 53, Québec, Canada, août 2017, doi:10.1007/978-3-319-61431-1_2 

See also the later publications by R. Saadaoui et al.:
* R. Saadaoui, E. Laroche, G. Bara, O. Piccin. H ∞ Control of a Planar 3-DOF Flexible-Cable Manipulator, ''10th IFAC Symposium on Robust Control Design ROCOND 2022'', Selective conference, Kyoto, Japan, août 2022.
* R. Saadaoui, O. Piccin, H. Omran, G. Bara, E. Laroche. Control-Oriented Modeling of a Planar Cable-Driven Parallel Robot with Non-Straight Cables, ''10th European Nonlinear Dynamics Conferences ENOC22'', Lyon, France, juillet 2022.
* R. Saadaoui, G. Bara, H. Omran, O. Piccin, E. Laroche. H ∞ Synthesis for a Planar Flexible Cable-Driven Robot, ''European Control Conference 2021'', Selective conference, pp. 710-715, Rotterdam, Netherlands, juillet 2021.