Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches

Begey, Jérémy; Cuvillon, Loïc; Lesellier, Maximilien; Gouttefarde, Marc; Gangloff, Jacques

doi:10.1109/tro.2018.2875415

Cited by 67 publications

(42 citation statements)

References 35 publications

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“…Cable transmission can be guided through the mechanical structure and displayed good performance in the robotic system we designed. In addition, the cable has a good weight‐to‐length ratio that can decrease the inertia of movement …”

Section: Methodsmentioning

confidence: 99%

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Design and implementation of a new cable‐driven robot for MRI‐guided breast biopsy

Liu

Yang

Jiang

et al. 2020

Robotics Computer Surgery

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Background Breast cancer is one of the most common cancer diagnosed among US women. Early and accurate diagnosis using breast biopsy techniques is essential in detecting cancer. Methods In this paper, we present a new cable‐driven robot for MRI‐guided breast biopsy. A compact three degree‐of‐freedom (DOF) semi‐automated robot driven by ultrasonic motors is designed with non‐magnetic materials. Next, a novel insertion trajectory planning algorithm based on the breast holder that we created is proposed and designed, which can help radiologists locate the lesion and calculate the insertion trajectory. To improve the accuracy of insertion, kinematic analysis and accuracy compensation methods are introduced. Results An experimental study based on image recognition and positioning is performed to validate the performance of the new robot. The results show that the mean position accuracy is 0.7 ± 0.04 mm. Conclusions Application of the new robot can improve breast biopsy accuracy and reduce surgery time.

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Section: Methodsmentioning

confidence: 99%

“…In addition, the cable has a good weight-to-length ratio that can decrease the inertia of movement. [18][19][20][21] Next in this paper, the working principle of cable transmission is introduced, as shown in Figure 6. The cable is transmitted in the pipe.…”

Section: Cable Transmissionmentioning

confidence: 99%

Design and implementation of a new cable‐driven robot for MRI‐guided breast biopsy

Liu

Yang

Jiang

et al. 2020

Robotics Computer Surgery

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“…The experiments were performed using 50 Frames Per Second (FPS), 1280 x 1024, GigE cameras, which were sufficient to prove the validity, in quasi-static CDPR operation, of the VBC approach proposed in this paper, which performs at a 20 Hz sampling frequency. While being out of the scope of this paper, let us note that cameras with higher FPS may be used to help achieving a high-speed VBC, as for instance in [32,69], and thus to increase the feasible velocities and accelerations of the CDPR mobile platform. It would also require an optimization of the time needed for VBC calculations and for processing of all camera raw images, which took 0.04 s on average on a desktop PC equipped with an Intel Core i7 processor, 16 GB RAM, and a GPU GeForce GTX 550 Ti.…”

Section: Comparison Of a Sagging And A Non-sagging Cable Modelmentioning

confidence: 99%

“…In [30], a camera is used to measure and close the loop on the pose of the mobile platform of a small-size planar fully-constrained CDPR while, in [31], the camera is combined with three laser sensors to close the loop on the mobile platform pose of a small-size 6-cable suspended CDPR. Recently, [32] contributed an alternative approach to the standard computed torque control and applied it to a small-size planar suspended CDPR with highly flexible cables where pose and velocity feedback was provided by a 500 Hz camera placed in front of the CDPR and an embedded IMU. Along a square reference trajectory of 21 cm × 21 cm, an accuracy of 1.7 mm and 7.8 mrad was obtained.…”

Section: Introductionmentioning

confidence: 99%

Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

et al. 2019

Self Cite

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This paper deals with the modeling and vision-based control of large-dimension cable-driven parallel robots. Inverse kinematics and instantaneous inverse kinematics models are derived from the elastic catenary cable modeling. These models turn out to be dependent on the pose of the mobile platform (end-effector), on the cable tangent directions and on the cable tensions. In order to control the motion of the robot, a position-based visual servo control is used, where the mobile platform pose is measured by vision and used for regulation. A multi-camera setup and load cells provide the aforementioned desired measurements, i.e., the mobile platform pose, the directions of the tangents to the cables, and the cable tensions. The proposed approach was validated in experiments on the large-dimension cable-driven parallel robot prototype CoGiRo of global dimensions 15 m x 11 m x 6 m (L x l x h). A maximum error of less than 1 cm in position and 0.5 • in orientation was achieved. Moreover, in the case of cable-driven parallel robots larger than the prototype CoGiRo, simulations were conducted in order to assess the influence on the vision-based control of four instantaneous inverse kinematics models.

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“…Cable driving parallel robots(CDPRs) are an extension of traditional parallel manipulators by replacing rigid links with cables, which brings many advantages including a large workspace, low inertia links, cost-effective scalability, and potentially heavy payload capabilities [4]. However, the employing of the flexible cables also introduces two main disadvantages.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Residual Vibration Suppression of the Redundantly-Actuated Cable Driving Parallel Manipulator

Chen

Wang

2020

IEEE Access

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An improved input shaping (IS) scheme was proposed for the redundantly actuated cable driving parallel robots (CDPRs) to suppress the residual vibration (RV). To make the design of the RV suppression convenient, the flexible displacements of the moving platform were taken as the generalized coordinates considering the axial deformation of cables, and rigid-flexible dynamic model of generalized redundantly actuated CDPRs was established with the Newton-Euler equation and the Newton's law. Then to cope with time-variant vibration frequencies of the CDPRs due to the variable lengths of cables, the technique that combined the one-to three-order zero vibration (ZV) IS with the particle swarm optimization (PSO) and the controller was proposed to suppress the RV. At last, to validate the effectiveness the proposed method, the simulations were carried out in a redundantly actuated CDPR that has six degree-of-freedom CDPR and seven driving cables with the proposed method, the results show that the RVs can be reduced significantly. INDEX TERMS Cable-driving parallel manipulator robot, dynamic modeling, multiple mode input shaping, particle swarm optimization.

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Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches

Cited by 67 publications

References 35 publications

Design and implementation of a new cable‐driven robot for MRI‐guided breast biopsy

Design and implementation of a new cable‐driven robot for MRI‐guided breast biopsy

Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

Dynamic Modeling and Residual Vibration Suppression of the Redundantly-Actuated Cable Driving Parallel Manipulator

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