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Optimal Trajectory Planning with the Dynamic Load Carrying Capacity of a Flexible Cable-Suspended Manipulator

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Figure

Figure 1. Six cable spatial robot with 
exible joints [6].
Table 1. Boundary conditions of 
exible joints case.
Figure 3. Comparison of motor torques in rigid and 
exible joint cases for specic payload.
Figure 5. Diagram of motor torques to reach maximum payload for K = 5 (N.m/rad).
+3

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