Conference Proceedings

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

Jonathan Eden, Chen Song, Ying Tan, Denny Oetomo, Darwin Lau, C Gosselin (ed.), P Cardou (ed.), T Bruckmann (ed.), A Pott (ed.)

Mechanisms and Machine Science | Springer International Publishing | Published : 2018

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 potenti..

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Grants

Awarded by German Academic Exchange Service of Germany


Funding 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.