3 papers
cs.RO2026
X-ACTA: eXtended Analytic Center Tension distribution Algorithm for fixed and mobile cable-driven-parallel-robot
Domenico Dona', Vincenzo Di Paola, Alberto Trevisani +1
Steering Cable-Driven Parallel Robots (CDPRs) beyond their Wrench-Feasible Workspace (WFW) augments their capabilities in challenging scenarios such as during aggressive maneuvers…
cs.RO2025
Stiffness-based Analytic Centre Method for Cable-Driven Parallel Robots
Domenico Dona', Vincenzo Di Paola, Matteo Zoppi +1
Nowadays, being fast and precise are key requirements in Robotics. This work introduces a novel methodology to tune the stiffness of Cable-Driven Parallel Robots (CDPRs) while simu…
cs.RO2025
Real-Time Generation of Near-Minimum-Energy Trajectories via Constraint-Informed Residual Learning
Domenico Dona', Giovanni Franzese, Cosimo Della Santina +2
Industrial robotics demands significant energy to operate, making energy-reduction methodologies increasingly important. Strategies for planning minimum-energy trajectories typical…