Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo

El-Ghazaly, Gamal; Gouttefarde, Marc; Creuze, Vincent

doi:10.1007/978-3-319-09489-2_13

Cited by 38 publications

(21 citation statements)

References 28 publications

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“…The kinematic problem of CDPM that just describes the geometric relationship between a redefined pose of end-effector and the cables' length. However, each cable has its length depend on The Cartesian coordinates of extremities of cable respect to {A} can be expressed as in (3) and (4).…”

Section: Quasi-static and Inverse Kinematic Problem Of Cable-driven Pmentioning

confidence: 99%

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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 Problem Of Cable-driven Pmentioning

confidence: 99%

“…properties of materials that are used in cable, S = T x T z L T ∈ ∆ denotes the solution of our study. According to (1), (2) and (4), the sagging cable model of Irvine in [17] can be used to archive the position of the free extremity B of cable and can be expressed in (18).…”

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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“…Indeed, the computed torque (also known as feedback exact linearization) enables the application of usual linear control methods [2,3]. Besides, Sliding Mode Control (SMC) is an advanced nonlinear feedback control that has been implemented successfully in CDPRs [4][5][6][7]. The main advantages of SMC are the possibility to attain finite time convergence, simple implementation and robustness to uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots

Santos

Chemori

Gouttefarde

2019

Mechanisms and Machine Science

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A Model Predictive Control (MPC) strategy is proposed in this paper for large-dimension cable-driven parallel robots working at low speeds. The latter characteristic reduces the non-linearity of the system within the MPC prediction horizon. Therefore, linear MPC is applied and compared with two commonly used strategies: Sliding mode control and PID+ control. The simulations aim at comparing disturbance rejection performances and the results indicate a superior performance of the proposed controller. Indeed, MPC takes into account control limits (cable tension limits) directly in the control design which allows the controller to better exploit the robot capabilities. In addition, actuation redundancy is resolved as an integral part of the control strategy, instead of calculating the desired wrench and then applying a tension distribution method.

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“…However, a large number of kinematic parameters has been selected for adaptation and therefore, the controller is computationally expensive. In order to improve performance of such adaptive methods, in [21,22] two adaptive control scheme is proposed by considering uncertainties in dynamic and kinematic parameters. However, these approaches require the linear regression form of kinematic and dynamic models.…”

Section: Introductionmentioning

confidence: 99%