Replication Data for: Actuated In-Operation-Reconfiguration of a Cable-Driven Parallel Robot with a Gradient Descent Approximation Technique

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:
<ul>
<li>Numerical description of the simulated RCDPR (.wcrfx)</li>
<li>Results of the workspace study presented </li>
<ul>
<li>Workspace comuted with the Brute-Force-Reconfiguration method (BFR) for three different platform rotations (.json)</li>
<li>Workspace comuted with the No-Reconfiguration method (NR) for three different platform rotations (.json)</li>
<li>Workspace comuted with the Gradient-Descent-Reconfiguration method (GDR) for three different platform rotations (.json)</li>
</ul>
</ul>
All workspace files contain the follwing data:
<ul>
<li>Method related information/ parameter (see publication)</li>
<li>wrench: Load vector applied on the platform (w_p)</li>
<li>rotation_matrix: Rotation matrix of the platform (w_p)</li>
<li>num_reconfig_axes: Number of reconfiguration axes used</li>
<li>grid_info: Information of the grid used in the grid search</li>
<li>num_of_points: Number of points in the wrench-feasible-workspace (WFW)</li>
<li>calc_time: Calculation time needed for the WFW-computation</li>
<li>reachable_points: List of all points of the WFW</li>
</ul>