Control of an Overactuated Cable-Driven Parallel Mechanism for a Radio Telescope Application

Meunier, G.; Boulet, Benoît; Nahon, Meyer

doi:10.1109/tcst.2008.2004812

Cited by 76 publications

(38 citation statements)

References 17 publications

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“…To solve the vibration problem is the key issue for flexible system. So the research method for studying flexible system is quite import, the assumed mode method and finite element method are often used for theoretical model research [5][6][7]. Comprehensive studying of simulation and experiment can be helpful to the optimization of flexible system, and is beneficial to the simulation research of the control method.…”

Section: Dynamics Analysismentioning

confidence: 99%

Co-simulation of Six DOF Wire Driven Parallel Mechanism Based on ADAMS and Matlab

Tang

Yue

et al. 2015

MATEC Web of Conferences

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Abstract. The dynamic model of the 6 DOF Wire Driven Parallel Mechanism (WDPM) system is introduced. Based on MATLAB system, the simulation of the inverse dynamic model is achieved. According to the simulation result, the mechanical model for the WDPM system is reasonable. Using ADAMS system, the dynamic model of the virtual prototype is verified by the simulation analysis. The combined control model based on ADAMS/Simulink is derived. The WDPM control system is designed with MATLAB/Simulink. The torque control method is selected for the outer ring and the PD control method for the inner ring. Combined with the ADAMS control model and control law design, the interactive simulation analysis of the WDPM system is completed. According to the simulation results of the spatial circle tracking and line tracking at the end of the moving platform, the tracking error can be reduced by the designed control algorithm. The minimum tracking error is 0.2 mm to 0.3 mm. Therefore, the theoretical foundation for designing hardware systems of the WDPM control system is established.

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Section: Dynamics Analysismentioning

confidence: 99%

Co-simulation of Six DOF Wire Driven Parallel Mechanism Based on ADAMS and Matlab

Tang

Yue

et al. 2015

MATEC Web of Conferences

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“…They used the feedback from the end-e ector pose and the mean tension of the cables in the controller [4]. Meunier et al derived the equations of the re ector of a large radio telescope by discretizing the cables utilizing lumped mass elements, where springs and dampers were placed between them [5]. They employed a cascade approach, including cable tension control using H 1 method in the inner loop, and end-e ector pose control using PID computed-torque method in the outer loop.…”

Section: Introductionmentioning

confidence: 99%

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

2017

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Abstract. The control of exible cable-driven parallel robots usually requires feedback not only from the joints, but also from the end-e ector pose or cable tension. This paper presents a new approach for reducing the vibration of exible cable-suspended robots, using only the feedback from the joints. First, the dynamic equations of a 6DOF cable-suspended parallel robot with elastic cables were derived by Gibbs-Appel formulation. Subsequently, three di erent control approaches were investigated based on the computational load and required sensors. As a result, a feedback linearization method based on the rigid model of the system was selected. In order to reduce the vibration, a robust input shaping method was employed to prevent excitation of natural modes. Simulation results revealed that the proposed approach leads to a noticeable vibration and settling time reduction in cases of low and high cable sti ness, respectively. Moreover, another simulation compared the presented approach with a composite controller, which used the feedbacks from the end-e ector and actuators. Thereafter, the performance of the approach in vibration reduction was quantitatively shown. Finally, experimental validation of the approach was accomplished by frequency analysis of the vibration obtained from the IMU sensor attached to the ende ector.

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“…In order to avoid the cases, the tensions of the connections should be balanced. For this kind of control problem, there exist several techniques and schemes including link parallel platform [7], cable-driven parallel platform [8,19,20,22,32], combinations of link structures and cable structures [2], and weight compensation mechanisms [26]. The link parallel platforms inevitably increase the system weight, and it is difficult to meet the precision requirements.…”

Section: Introductionmentioning

confidence: 99%

“…Although cable-driven parallel systems have the aforementioned weaknesses, the kind of systems has received a lot of attention since it has various attractive features such as larger workspace, reduced manufacturing and maintenance costs, ease of assembly and disassembly, superior modularity, and reconfigurability [3]. Over the past two decades, the related research activities are mainly focused on stiffness modeling and stability analysis [3,8], dynamic modeling [20], and system control [32]. In addition, the above mentioned schemes seldom consider the equilibrium problem of the cable or link tensions.…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, there exist high levels of uncertainties in the cable-driven parallel system, which mainly include inevitable measurement errors of sensors, operation errors of an actuator, uncertainties in the adjustment process such as the sway and change of a payload. Based on the above observation, some previous model-based control approaches [20,32] hardly handle the control problem of the cable-driven parallel system, which motivates us to investigate the problem by using the type-2 fuzzy logic systems (FLSs).…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Direct inverse control of cable-driven parallel system based on type-2 fuzzy systems

Wang

Tong

2015

Information Sciences

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Control of an Overactuated Cable-Driven Parallel Mechanism for a Radio Telescope Application

Cited by 76 publications

References 17 publications

Co-simulation of Six DOF Wire Driven Parallel Mechanism Based on ADAMS and Matlab

Co-simulation of Six DOF Wire Driven Parallel Mechanism Based on ADAMS and Matlab

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

Direct inverse control of cable-driven parallel system based on type-2 fuzzy systems

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