Dynamic Load Carrying Capacity of Flexible Cable Suspended Robot: Robust Feedback Linearization Control Approach

Korayem, Moharam Habibnejad; Tourajizadeh, Hami; Bamdad, Mahdi

doi:10.1007/s10846-010-9423-x

Cited by 49 publications

(28 citation statements)

References 6 publications

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“…Totally, the general dynamic form of the robot can be demonstrated as 20 : The cables' tension is positive during the motion for all of the motors as well as there is no kinematic or dynamic singular point within the trajectory.…”

Section: Dynamic Modeling Of the Cable Robot With Flexible Jointsmentioning

confidence: 99%

“…20 Output of the inner loop block is the actual angular velocity of the motors and actual applied motor torque. 20 Output of the inner loop block is the actual angular velocity of the motors and actual applied motor torque.…”

Section: Motor Modeling: the Motor Control Schemementioning

confidence: 99%

“…Influence of flexible joint is controlled by PD online gravity control. 20 However, something has not been done yet. 15,16 Trajectory tracking control of parallel manipulators is aimed at the presence of flexibility at the joint drives.…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Dynamic Modeling Of the Cable Robot With Flexible Jointsmentioning

confidence: 99%

Section: Motor Modeling: the Motor Control Schemementioning

confidence: 99%

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

et al. 2013

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“…The formulation for describing the system dynamic model using the time derivative of the kinematic constraint equations can be written as [21][22][23].…”

Section: Kinematic and Dynamic Modelingmentioning

confidence: 99%

Analytical design of optimal trajectory with dynamic load-carrying capacity for cable-suspended manipulator

Bamdad

Tourajizadeh

Korayem

et al. 2011

Int J Adv Manuf Technol

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This paper describes the development of an approach for trajectory planning of cable-suspended parallel robots using optimal control approach. A prototype has been built, and tests have been carried out to verify the theoretical results. This paper briefly illustrates this device and presents some initial tests. The final dynamic equations are organized in a closed form similar to serial manipulator equations. Dynamic load-carrying capacity problem is converted into a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. The problem is formulated using optimal control theory, and the ideas are analyzed using Pontryagin's minimum principle. The optimal solutions are found by solving the corresponding nonlinear two-point boundary value problems. The main objective is to find the manipulator load-carrying capacity in point-to-point task by considering actuator torque while cable forces are positive.

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“…To improve the system response, the state variables added to the system because of the axial vibrations of the cables should be considered in the controller. In this regard, Korayem et al described the dynamic equations of a 6DOF cable-suspended robot with elastic joints and controlled the end-e ector employing a robust feedback linearization method [2]. In another study, they incorporated the tension obtained from PDE solution of the vibrational cables into the SMC controller in order to compensate for exibility uncertainties [3].…”

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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Dynamic Load Carrying Capacity of Flexible Cable Suspended Robot: Robust Feedback Linearization Control Approach

Cited by 49 publications

References 6 publications

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

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

Analytical design of optimal trajectory with dynamic load-carrying capacity for cable-suspended manipulator

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

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