Simulated dataset for the investigative workspace study considering a gradient descent reconfiguration method for Reconfigurable Cable-Driven Parallel Robots (RCDPRs). This corresponds to the submitted paper: 'Actuated In-Operation-Reconfiguration of a Cable-Driven Parallel Robot with a Gradient Descent Approximation Technique'. The dataset contains the following files:

Numerical description of the simulated RCDPR (.wcrfx) Results of the workspace study presented

  Workspace comuted with the Brute-Force-Reconfiguration method (BFR) for three different platform rotations (.json)
  Workspace comuted with the No-Reconfiguration method (NR) for three different platform rotations (.json)
  Workspace comuted with the Gradient-Descent-Reconfiguration method (GDR) for three different platform rotations (.json)

All workspace files contain the follwing data:

Method related information/ parameter (see publication) wrench: Load vector applied on the platform (w_p) rotation_matrix: Rotation matrix of the platform (w_p) num_reconfig_axes: Number of reconfiguration axes used grid_info: Information of the grid used in the grid search num_of_points: Number of points in the wrench-feasible-workspace (WFW) calc_time: Calculation time needed for the WFW-computation reachable_points: List of all points of the WFW