A Versatile Tension Distribution Algorithm for &lt;inline-formula&gt; &lt;tex-math&gt;$n$&lt;/tex-math&gt; &lt;/inline-formula&gt; -DOF Parallel Robots Driven by &lt;inline-formula&gt; &lt;tex-math&gt;$n+2$&lt;/tex-math&gt; &lt;/inline-formula&gt; Cables

Gouttefarde, Marc; Lamaury, Johann; Reichert, Christopher; Brückmann, Tobias

doi:10.1109/tro.2015.2495005

Cited by 137 publications

(28 citation statements)

References 42 publications

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“…Similar to the sagging cable model section, let {A i } be the 2D-frame that defines the considered plane and illustrated in Figure 2. We can define a i and T i respect to {A i } as (10) and (11), respectively a…”

Section: Quasi-static and Inverse Kinematic Characteristics Of Singlementioning

confidence: 99%

Empirical Quasi-Static and Inverse Kinematics of Cable-Driven Parallel Manipulators Including Presence of Sagging

Luan

Thinh

2020

Applied Sciences

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Cable-driven parallel manipulators (CDPMs) have been of great interest to researchers in recent years because they have many advantages compared to the traditional parallel robot. However, in many studies they lack the cable’s elasticity that leads to flexible cables just being considered as extendable rigid links. Furthermore, an external force acts on the extremities of cable and the self-weight is relevant to the length of it. Experimentally, a small change in length produces a huge change in tension act on the entire cable. By this property, the adjusting length of cable is often added to the traditional inverse kinematic solution in order to reduce the tension force exerted on the cable. This means that the load on the actuator is also reduced. Because of the relationship between tension that acts on the cable and its length, the kinematic problem itself does not make sense without concerning the static or dynamic problems. There is often interest in planning forces for actuators and the length of cables based on a given quasi-static trajectory of the moving platform. The mentioned problem is combined with the quasi-static problem with the inverse kinematic problem of CDPM. In this study, we introduce a novel procedure to produce the quasi-static model and inverse kinematic model for CDPM with the presence of sagging by using both an analytic approach and empirical approach. The produced model is time-efficient and is generalized for spatial CDPM. To illustrate the performance of the proposed model, the numerical and experimental approaches are employed to determine particular solutions in the feasible solutions set produced by our model in order to control the two redundant actuators’ CDPM tracking on a certain desired trajectory. Its results are clearly described in the experimental section.

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Section: Quasi-static and Inverse Kinematic Characteristics Of Singlementioning

confidence: 99%

Empirical Quasi-Static and Inverse Kinematics of Cable-Driven Parallel Manipulators Including Presence of Sagging

Luan

Thinh

2020

Applied Sciences

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“…Fang et al [9] propose a computed-torque controller in the cable length coordinates with a feedforward part of the inverse dynamics. Gouttefarde et al [10] propose a similar computed-torque controller but with two feedforward terms, one to compensate for the platform dynamics, and the other to compensate for dry and viscous frictions of the actuators.…”

Section: Context and State Of The Artmentioning

confidence: 99%

“…(2) in some situations, in particular when the platform is close to the workspace border while a feasible solution exists. A second noniterative approach has been developed by Mikelsons et al [24] and has been recently improved by Gouttefarde et al [10]. The algorithm analytically computes a feasible and a continuous solution along trajectories using the following relationship:…”

Section: Position Based Control With Tension Supervisionmentioning

confidence: 99%

Control of cable-driven manipulators in the presence of friction

Abdelaziz

Barbé

Renaud

et al. 2017

Mechanism and Machine Theory

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Cable-driven systems are of great interest in applications for which remote actuation is required, like for instance to operate within medical imaging devices. In such applications, robotic architectures based on remotely actuated cable-driven manipulators (CDM) offer innovative design options. However, unlike more conventional CDM, such designs involve specific control problems. This paper deals with the control of CDM in the presence of friction, as experienced when particular design constraints have to be taken into account (size, materials, length of transmissions). In this case, the influence of friction on the manipulator motions is such that dynamic modeling, identification and control, are no longer adapted, nor even possible. As a result, for quasi-static positioning tasks, we propose a CDM position control strategy resulting from a cascade structure, with an internal cable tension control loop to handle friction. Cable tension is measured using an original instrumented compliant structure. From the control point of view, the originality of the present paper comes in particular from the development of a feasibility algorithm which allows us to limit cables tensions within a specified range. This strategy is experimentally assessed on a robot for image-guided medical procedures.

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“…Several force-distribution algorithms [5,6,7] were previously utilized for CDPR motion control and cable-tension control [8,9,10]. However, even with these force-distribution algorithms, the CDPR force control was challenging, in practice.…”

Section: Introductionmentioning

confidence: 99%

Indirect Force Control of a Cable-Driven Parallel Robot: Tension Estimation using Artificial Neural Network trained by Force Sensor Measurements

Piao

Kim

Choi

et al. 2019

Sensors

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In a cable-driven parallel robot (CDPR), force sensors are utilized at each winch motor to measure the cable tension in order to obtain the force distribution at the robot end-effector. However, because of the effects of friction in the pulleys and the unmodeled cable properties of the robot, the measured cable tensions are often inaccurate, which causes force-control difficulties. To overcome this issue, this paper presents an artificial neural network (ANN)-based indirect end-effector force-estimation method, and its application to CDPR force control. The pulley friction and other unmodeled effects are considered as black-box uncertainties, and the tension at the end-effector is estimated by compensating for these uncertainties using an ANN that is developed using the training datasets from CDPR experiments. The estimated cable tensions at the end-effector are used to design a P-controller to track the desired force. The performance of the proposed ANN model is verified through comparisons with the forces measured directly at the end-effector. Furthermore, cable force control is implemented based on the compensated tensions to evaluate the performance of the CDPR in wrench space. The experimental results show that the proposed friction-compensation method is suitable for application in CDPRs to control the cable force.

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A Versatile Tension Distribution Algorithm for <inline-formula> <tex-math>$n$</tex-math> </inline-formula> -DOF Parallel Robots Driven by <inline-formula> <tex-math>$n+2$</tex-math> </inline-formula> Cables

Cited by 137 publications

References 42 publications

Empirical Quasi-Static and Inverse Kinematics of Cable-Driven Parallel Manipulators Including Presence of Sagging

Empirical Quasi-Static and Inverse Kinematics of Cable-Driven Parallel Manipulators Including Presence of Sagging

Control of cable-driven manipulators in the presence of friction

Indirect Force Control of a Cable-Driven Parallel Robot: Tension Estimation using Artificial Neural Network trained by Force Sensor Measurements

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