An Improved Force Distribution Algorithm for Over-Constrained Cable-Driven Parallel Robots

Pott, Andreas

doi:10.1007/978-94-007-7214-4_16

Cited by 77 publications

(56 citation statements)

References 9 publications

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“…two) cable tension fixed to t min or t max during the second (resp. third) call [38]. Hence, the worst case number of FLOPs can be established to be 4n 3 + 49 2 n 2 + 273 6 n + 7 FLOPs, i.e., 2026 FLOPs for n = 6 which is not significantly smaller than the worst-case number of FLOPs needed by the algorithm proposed in this paper.…”

Section: E Comparison To Other Methodsmentioning

confidence: 86%

“…Besides, the methods in [36]- [39] make simple, fast and predictable computations suitable for degrees of redundancy larger than two or three. However, these methods are not proved to work in the whole WFW [38] and they may not be effective for suspended CDPRs. To enlarge the part of the WFW in which they work, some cable tensions are set at their maximum or minimum admissible values, which may be contrary to the desired behavior and degrade the smoothness of the tension time evolutions (see the example in [39]).…”

Section: Introductionmentioning

confidence: 99%

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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

et al. 2015

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Redundancy resolution of redundantly actuated cable-driven parallel robots (CDPRs) requires the computation of feasible and continuous cable tension distributions along a trajectory. This paper focuses on n-DOF CDPRs driven by n+2 cables since, for n = 6, these redundantly actuated CDPRs are relevant in many applications. The set of feasible cable tensions of n-DOF n+2-cable CDPRs is a two-dimensional convex polygon. An algorithm that determines the vertices of this polygon in a clockwise or counterclockwise order is first introduced. This algorithm is efficient and can deal with infeasibility. It is then pointed out that straightforward modifications of this algorithm allow the determination of various (optimal) cable tension distributions. A self-contained and versatile tension distribution algorithm is thereby obtained. Moreover, the worst-case maximum number of iterations of this algorithm is established. Based on this result, its computational cost is analyzed in detail, showing that the algorithm is efficient and real-time compatible even in the worst case. Finally, experiments on two 6-DOF 8-cable CDPR prototypes are reported.

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Section: E Comparison To Other Methodsmentioning

confidence: 86%

Section: Introductionmentioning

confidence: 99%

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

et al. 2015

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“…A variety of tension distribution algorithms have been proposed for resolving the actuation redundancy present in most cable-driven robots. Each of these approaches have different characteristics and varying computational cost [39]. Perhaps the most commonly implemented method in the literature relies upon the minimization (or maximization) of some function of the cable tensions.…”

Section: Tension Distribution In Ropesmentioning

confidence: 99%

Design and Analysis of a Cable-Driven Articulated Rehabilitation System for Gait Training

Alamdari

Krovi

2016

Journal of Mechanisms and Robotics

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Assisted motor therapies play a critical role in enhancing functional musculoskeletal recovery and neurological rehabilitation. Our long term goal is to assist and automate the performance of repetitive motor-therapy of the human lower limbs. Hence, in this paper, we examine the viability of a light-weight and reconfigurable hybrid (articulatedmultibody and cable) robotic system for assisting lowerextremity rehabilitation and analyze its performance. A hybrid cable-actuated articulated multibody system is formed when multiple cables are attached from a ground-frame to various locations on an articulated-linkage based orthosis. Our efforts initially focus on developing an analysis and simulation framework for the kinematics and dynamics of the cable-driven lower limb orthosis. A Monte Carlo approach is employed to select configuration parameters including cuff sizes, cuff locations, and the position of fixed winches. The desired motions for the rehabilitative exercises are prescribed based upon motion patterns from a normative subject cohort. We examine the viability of using two controllers -a joint-space feedback linearized PD controller and a task-space force-control strategy -to realize trajectory-and path-tracking of the desired motions within a simulation environment. In particular, we examine performance in terms of (i) coordinated control of the redundant system; (ii) reducing internal stresses within the lowerextremity joints; and (iii) continued satisfaction of the unilateral cable-tension constraints throughout the workspace. A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mechanismsrobotics.asmedigitalcollection.asme.org/ on 01/05/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use Alamdari 2 A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mechanismsrobotics.asmedigitalcollection.asme.org/ on 01/05/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use Journal of Mechanisms and Robotics.A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mechanismsrobotics.asmedigitalcollection.asme.org/ on 01/05/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use Journal of Mechanisms and Robotics.A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mechanismsrobotics.asmedigitalcollection.asme.org/ on 01/05/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use Journal of Mechanisms and Robotics.A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mechanismsrobotics.asmedigitalcollection.asme.org/ on 01/05/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use Journal of Mechanisms and Robotics.A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mechanismsrobotics.asmedigitalcollection.asme.org/ on 01/05/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use Alamdari 7 A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mech...

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“…This motivated for the further development and ended in the advanced closed-form method. The algorithm and its application to workspace analysis of cable robots was firstly presented in Pott (2013). The advanced closed-form algorithm consists of the evaluation of the closed-form solution and an order reduction of the linear equation system in the case, the cable bounds are violated.…”

Section: Kinematic and Static Modelmentioning

confidence: 99%

Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

et al. 2015

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Abstract. For cable-driven parallel robots elastic cables are used to manipulate a mobile platform in the workspace. In this paper, we present a hybrid position-force control, which allows for applying defined forces on the environment and simultaneous movement along the surface. We propose a synchronous control of the cable forces to ensure the stability of the platform during movement. The performance of the controller is experimentally investigated regarding contact establishment and dynamic behavior during a motion on the cable robot IPAnema 3.

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An Improved Force Distribution Algorithm for Over-Constrained Cable-Driven Parallel Robots

Cited by 77 publications

References 9 publications

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

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

Design and Analysis of a Cable-Driven Articulated Rehabilitation System for Gait Training

Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

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