Calculating force distributions for redundantly actuated tendon-based Stewart platforms

Brückmann, Tobias; Pott, Andreas; Hiller, Manfred

doi:10.1007/978-1-4020-4941-5_44

Cited by 54 publications

(51 citation statements)

References 4 publications

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“…The dynamic parameters of CoGiRo winches are shown in Table 3. 6 4.000 -1.000 1.796 0.000 0.000 11.460 x 7 4.000 -1.000 1.307 0.000 0.000 11.460 x 8 4.300 -2.000 1.307 0.000 0.000 11.460 x 9 4.300 -2.000 2.296 0.000 0.000 11.460 x 10 0.000 0.000 2.296 0.000 0.000 0.000…”

Section: Cogiro Prototypeunclassified

“…The proposed algorithms to resolve redundancy can be categorised into two main classes namely, iterative algorithms and non-iterative algorithms. Iterative algorithms are usually based on optimization and are not always suitable for real time implementations [6,7,8]. On the other hand, non-iterative algorithms give a solution in a reasonable amount of time and can be more easily implemented in real-time [9,10,5].…”

Section: Introductionmentioning

confidence: 99%

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

El-Ghazaly

Gouttefarde

Creuze

2014

Mechanisms and Machine Science

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This paper presents an extended adaptive control scheme via terminal sliding mode (TSM) for cable-driven parallel manipulators (CDPM). Compared with linear hyperplane-based sliding mode control, TSM is able to guarantee highprecision and robust tracking performances which arise from its main feature of finite-time convergence. This motivates applying TSM to robotic manipulators in general and, as presented in this paper, to CDPM in particular. The scheme presented in this paper extends early developed TSM control schemes which are based on partial knowledge of system dynamics. Instead, making use of the property that the dynamic models of mechanical manipulators are linear in inertial parameters, an adaptive control law is synthesised based on an appropriate choice of Lyapunov function which guarantees finite-time convergence to neighborhood of sliding mode. A key challenge of the control of CDPM is that cable tensions must be admissible, i.e. lying in a non-negative range of admissible values. As long as cable tensions are admissible, the overall dynamics of CDPM can be easily written in either actuator space or operational space which in turn facilitates control system design. The extended adaptive control scheme has been applied to a large redundantly actuated CDPR prototype, CoGiRo. Simulation results show the effectiveness of the proposed control method.

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Section: Cogiro Prototypeunclassified

Section: Introductionmentioning

confidence: 99%

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

El-Ghazaly

Gouttefarde

Creuze

2014

Mechanisms and Machine Science

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“…Note, that this implementation cannot be used for realtime control since the worst-case run-time in each control cycle cannot be guaranteed a priori. Several approaches are known to handle this problem (Borgstrom et al, 2009;Bruckmann, Mikelsons, Brandt, Hiller & Schramm, 2008a;Bruckmann et al, 2007b;Bruckmann, Pott, Franitza & Hiller, 2006;Ebert-Uphoff & Voglewede, 2004;Fattah & Agrawal, 2005;Oh & Agrawal, 2005;Verhoeven, 2004). In this application, a force minimizing algorithm for realtime force distribution will be implemented, using a geometric approach (Bruckmann, 2010;Bruckmann et al, 2009;Mikelsons et al, 2008).…”

Section: Dynamicsmentioning

confidence: 99%

Wire Robot Suspension Systems for Wind Tunnels

Sturm¹,

Lalo²,

Brückmann³

2011

Wind Tunnels and Experimental Fluid Dynamics Research

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“…The shown approaches require the usage of an optimizer to deliver continuous results as shown in ((Verhoeven, 2004), (Nahon & Angeles, 1991), (Bruckmann et al, 2006), (Voglewede & Ebert-Uphoff, 2004) and (Bosscher & Ebert-Uphoff, 2004)). Standard optimizer implementations a s L A P A C K o r t h e N A G ® library require iterative computations, which may not be used within a realtime control system due to their normally non-predictable worst-case runtime.…”

Section: Barycentric Force Calculationmentioning

confidence: 99%