Summary
This paper proposes the preliminary results on a new method for solving inverse dynamics in Reconfigurable Underactuated Cable-Driven Parallel Robots. Given a prescribed trajectory, imposed to a subset of the end-effector coordinates, the goal is to evaluate the motor torques that are required to properly adjust the cable lengths as well as to compute the commanded trajectories of the movable exit-points. The developed technique is based on the input-output normal form of the nonlinear dynamic model of the unconstrained end-effector and, as it is usual in non-flat underactuated systems, it exploits both algebraic and differential equations, leading to a numerical approach. Some mild simplifications are proposed to reduce the computational effort. Numerical validation is proposed.
