Development of ICASBOT: A Cable-Suspended Robot’s with Six DOF

Korayem, M. H.; Bamdad, Mahdi; Tourajizadeh, Hami; Shafiee, H.; Zehtab, R. M.; Iranpour, A.

doi:10.1007/s13369-012-0352-9

Cited by 17 publications

(15 citation statements)

References 4 publications

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“…Experimental tests are implemented on a 6-DOF under-constrained cablesuspended robot, ICaSbot, designed and manufactured in Iran University of Science and Technology (IUST). 25 Six DC motors are responsible for supporting six suspended cables. The length change of these cables controls three translational and three rotational movements of a triangular shape end-effector.…”

Section: Experimental Verificationmentioning

confidence: 99%

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Compensating the flexibility uncertainties of a cable suspended robot using SMC approach

2014

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SUMMARYA sliding mode controller is designed to compensate for the flexibility uncertainties of a cable robot and improve its tracking performance. Of the most significant sources of these uncertainties are the elasticity of the cables and the flexibility of the joints. A favorable approach to improve the accuracy of the system is first to model the cable and joint flexibilities and then convert the model uncertainties into parametric uncertainties. Parametric uncertainties are the product of imprecise flexibility coefficients and are finally neutralized by a sliding mode controller. The flexibility in cables is modeled by considering the longitudinal vibration of the time-varying length cables. A simulation study is carried out to confirm the presented model and the positive effect of the designed controller. Then the impact of these uncertainties on the dynamic load carrying capacity (DLCC) of the robot is examined and compared for different cases. Finally, experimental tests are conducted on the IUST (Iran University of Science and Technology) cable-suspended robot to validate the presented theories and simulation results.

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Section: Experimental Verificationmentioning

confidence: 99%

“…16, three laser sensors estimate the altitude and rotational movement of the end-effector, while camera records planer movement of the end-effector. 26 In a previous work, 25 the robot was controlled in an open-loop scheme. Here, a robust closed-loop control scheme is installed on robot.…”

Section: Experimental Verificationmentioning

confidence: 99%

Compensating the flexibility uncertainties of a cable suspended robot using SMC approach

2014

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“…16 In order to plan the optimal path and control the end-effector to bypass the obstacle, the mentioned optimal feedback linearization is employed to control the end-effector (Fig. 3).…”

Section: Experimental Verificationmentioning

confidence: 99%

Optimal regulation of a cable robot in presence of obstacle using optimal adaptive feedback linearization approach

et al. 2014

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Optimal path planning of a closed loop cable robot, between two predefined points in presence of obstacles is the goal of this paper. This target is met by proposing a new method of optimal regulation for non linear systems while Dynamic Load Carrying Capacity (DLCC) of the robot is supposed as the related cost function. Feedback linearization is used to linearize the system while Linear Quadratic Regulator (LQR) is employed to optimize the DLCC of the system based on torque and error constraints. Obstacle avoidance for both the end-effector and cables is also considered by the aid of designing an adaptive local obstacle avoidance controller. As a result of linearized nature of the proposed optimal regulation and obstacle avoidance, fast calculation for real time applications is possible. Therefore, formulation of the optimal feedback linearization, together with calculating the DLCC of the robot based on the presented constraints is derived. Finally, a simulation study is performed to study the optimal dynamics and also the maximum DLCC of the cable robot in presence of obstacles. Simulation results are eventually compared with experimental tests conducted on IUST Cable Suspended Robot (ICaSbot) to verify the validity and efficiency of the proposed optimal controllers.

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“…22 Each cable is tensioned by a motor-pulley direct-driven system, with a 24-VDC brush DC electric motor and continuous torque of 28.2 Nm that are equipped by a 600-count high-performance optical quadrature encoders with a resolution of 500 (×4) CPR, which senses the actual rotation of the motor. The motors, pulleys, and encoders are mounted on the top plate of the structure.…”

Section: Hardware Setupmentioning

confidence: 99%

“…22 The position is recorded here just for monitoring the actual position of the end-effector and its feedback is not used in the controller. 22 The position is recorded here just for monitoring the actual position of the end-effector and its feedback is not used in the controller.…”

Section: Hardware Setupmentioning

confidence: 99%

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

et al. 2013

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2013). Experimental results for the exible joint cable-suspended manipulator of ICaSbot. Robotica, 31, pp 887-904 SUMMARYIn this paper, design, dynamic, and control of the motors of a spatial cable robot are presented considering flexibility of the joints. End-effector control in order to control all six spatial degrees of freedom (DOFs) of the system and motor control in order to control the joints flexibility are proposed here. Corresponding programing of its operation is done by formulating the kinematics and dynamics and also control of the robot. Considering the existence of gearboxes, flexibility of the joints is modeled in the feed-forward term of its controller to achieve better accuracy. A two sequential closed-loop strategy consisting of proportional derivative (PD) for linear actuators in joint space and computed torque method for nonlinear end-effector in Cartesian space is presented for further accuracy. Flexibility is estimated using modeling and simulation by MATLAB and SimDesigner. A prototype has been built and experimental tests have been done to verify the efficiency of the proposed modeling and controller as well as the effect of flexibility of the joints. The ICaSbot (IUST Cable-Suspended robot) is an underconstrained six-DOF parallel robot actuated by the aid of six suspended cables. An experimental test is conducted for the manufactured flexible joint cable robot of ICaSbot and the outputs of sensors are compared with simulation. The efficiency of the proposed schemes is demonstrated.

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Development of ICASBOT: A Cable-Suspended Robot’s with Six DOF

Cited by 17 publications

References 4 publications

Compensating the flexibility uncertainties of a cable suspended robot using SMC approach

Compensating the flexibility uncertainties of a cable suspended robot using SMC approach

Optimal regulation of a cable robot in presence of obstacle using optimal adaptive feedback linearization approach

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

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