Ansvar: Magnus Antonsen

Beskrivelse: For å utlede korrekte matematiske modeller for kabel-roboten vår brukte vi Python med matplotlib for å visualisere utregningene våre. Det første og viktigste å passe på er at kabelene ikke ryker og at motorene er synkrone i bevegelsene sine, ikke leddvis, men fysisk. Dette regnet vi ut ved hjelp av the law of cosine og Python.


Ved å bruke the law of cosine finner vi vinkel C som vi kan bruke for å finne hastigheten en motor bør trekke inn eller ut tråd.

a = Length between endpoints
b = Motor -> endpos
c = Motor -> startPos

Etter vi har funnet vinkel C, tar vi cos(C) og finner hastigheten. Hastigheten blir også normalisert til en hastighet fra 0-1 av maks hastighet.


Below are the simulations of the cable robot during a couple different paths. The simulations are ran at 1000 time steps, but in real, practical use it can be cut down to lower sample sizes. Under 100 samples gives poor results. The movement types simulated are:

  • Diagonal (0,0,0) → (148,110,100)
  • Circular d=50 around (74,55,50)
  • More to come..


Movement type: Diagonal (0,0,0) → (148,110,100)

The image on the left shows the motor speed of each motor from zero which is no movement, to 1 being max movement. As the image shows motor 1 and motor 7 has max speed at all times. This is obvious because the end effector starts at 0,0,0 where motor 1 is, and ends at 148,110,100 where motor 7 is.

The image on the right shows more detailed for each motor seperatly, and the colors show motors diagonal of each other. Motor 1 is across motor 7 diagonally, and they move at the same speed.


Movement type: Circular path around middle (74,55,50)


Here you can see that each motor stops in speed twice, this makes sense because for each motor there will be two situations when the circle moves 90 degrees from the motor. cosine (90) = 0, so it makes sense as shown in the graphs.

The pattern in this motion path is that since the path is around the middle 50z, it is equal to both motors in the same x,y coordinate. Motor 1 and Motor 5 has the same movement profile, likewise (2,6), (3,7), (4,8) are equal to each other.

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