GRAPHIC USER INTERFACE FOR MOTION, SIMULATION AND EVALUATION OF A PLANAR CABLE-DRIVEN PARALLEL ROBOT

抄録

In the field of robotic rehabilitation, the cable-driven parallel robots (CDPRs) are becoming an ideal solution for their characteristics including large workspace, easy reconfigurability, low-cost. This paper proposes a specifically developed graphic user-interface for the operation of planar cable-driven parallel robots. Its features are not limited to motion programming, but also for assisting in all evaluation and rehabilitation phases. The interface integrates a simulator allowing to check and avoid any undesired motion or pose as well as avoid collisions. The paper includes preliminary experimental results demonstrating the feasibility and usefulness of the proposed interface.