Dynamic Modeling and Adaptive Control of a Single Degree-of-Freedom Flexible Cable-Driven Parallel Robot

Godbole, Harsh Atul; Caverly, Ryan James; Forbes, James Richard

doi:10.1115/1.4043427

Cited by 19 publications

(5 citation statements)

References 25 publications

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“…Since in this robot, the mass of the end-effector is significantly higher than the mass of the cables, thus during the robot motion, it is possible to ignore the velocity and acceleration of the cable's elements in their dynamic performance [21].…”

Section: Investigating the Cable's Tension With Nonlinear Flexibility In Mobile Cable Robotmentioning

confidence: 99%

Modeling of a Mobile Spatial Cable Robot With Flexible Cables and Investigating the Effect of Its Nonlinear Vibrations on the System Dynamics

Goodarzi

Korayem

Tourajizadeh

et al. 2021

Preprint

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In this paper the modeling of a novel moving cable robot is conducted considering the vibration of the cables in its nonlinear format. The robot has 6 DOFs while the controlling input number is 12. Considering the fact that the elasticity of the cables is coupled with the dynamic model of the system, their vibration effects on the robot performance and accuracy. The target of this paper is to model the robot considering the cables’ elasticity and study its effect on the robot performance. This study can be considered in designing the controller of tower cranes and decrease the swing of the cables and increasing their stability. In order to cover the mentioned aim, the continuous vibration of the cables are modeled as a nonlinear system and it is added to the moving platform dynamics. Moreover the differences between the nonlinear modeling of the cables’ vibration and estimating them as a linear system is studied and their related results are compared and analyzed. The correctness of modeling is shown by comparing the results with previous research and the superiority of modeling the cables’ vibration in its nonlinear format is verified by the aid of a series of simulation scenarios in MATLAB. Moreover, by conducting some experimental test on the manufactured moving cable robot of IUST, it is illustrated that, modeling the cables in these robots as a nonlinear system results in more accurate results. It is shown that not only considering the cables’ vibration is significant in analyzing the robot dynamic, but also it is shown that promoting the mentioned model into nonlinear one increase the accuracy of the robot modeling which sequentially can provide a stronger controller for stabilizing and controlling the end-effector within a predefined trajectory.

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Section: Investigating the Cable's Tension With Nonlinear Flexibility In Mobile Cable Robotmentioning

confidence: 99%

Modeling of a Mobile Spatial Cable Robot With Flexible Cables and Investigating the Effect of Its Nonlinear Vibrations on the System Dynamics

Goodarzi

Korayem

Tourajizadeh

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…However, the differences between cables were ignored in the paper. Godbole et al [24] developed a Rayleigh-Ritz cable model to compensate for the effect of time−varying parameters. The changes in cable mass and stiffness caused by its winding and unwinding around the winches, which were described through the passivity-based adaptive control law, were considered in this model.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Backstepping Motion Control of Underwater Cable-Driven Parallel Mechanism Using Improved Linear Model Predictive Control

Zhao

Qin

et al. 2023

JMSE

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This paper proposes a novel motion-tracking control methodology for an underwater cable-driven parallel mechanism (CDPM) that achieves calculation of dynamic tension constraint values, tension planning, parameter linearization, and motion tracking. The control objective is divided into three sub-objectives: motion tracking, horizontal displacement suppression, and cable-tension restriction. A linear model predictive control (LMPC) method is designed to plan cable tensions for motion-tracking and displacement suppression. The robust adaptive backstepping controller converts cable tension into winch speed based on the joint-space method and command filtering. Moreover, the X−swapping method is used to linearize and identify the time−varying nonlinear parameters. An essential prerequisite for restricting cable tension is to obtain cable-tension constraint values. A novel dynamic minimum tension control (DMTC) method, based on the equivalent control concept, is proposed for this aim. The DMTC can adaptively obtain the lower cable-tension threshold through the platform posture and motion status, anchor distribution position, and cable integrity status. Compared to traditional fixed tension constraint values, DMTC can more effectively cope with sudden changes in cable tension than fixed tension constraints. Finally, several simulations are carried out to verify the effectiveness and robustness of the proposed approach.

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“…It is therefore not directly suitable for dynamic control applications. Recently, a Rayleigh-Ritz cable model that takes into account the variation in cable mass and stiffness was studied in [10]. However, results are for now limited to a single DOF CDPR.…”

Section: Introductionmentioning

confidence: 99%

FEM-Based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging

Moussa

Coevoet

Duriez

et al. 2023

Mechanisms and Machine Science

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Cable-Driven Parallel Robots (CDPRs) are a type of robot that is growing in popularity for different kinds of applications. However, the use of cables instead of rigid links makes the modelling of this robot a complex task, and therefore their trajectory planning and control are challenging. Assumptions such as inelastic, massless and non-sagging cables made when the CDPR is small are no longer valid when the robot becomes large. This paper presents a CDPR dynamic model taking into account cable elasticity and sagging, and its implementation within an open-source framework, named SOFA. Finally, the simulation results are compared to experiments conducted on a suspended CDPR.

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Dynamic Modeling and Adaptive Control of a Single Degree-of-Freedom Flexible Cable-Driven Parallel Robot

Cited by 19 publications

References 25 publications

Modeling of a Mobile Spatial Cable Robot With Flexible Cables and Investigating the Effect of Its Nonlinear Vibrations on the System Dynamics

Modeling of a Mobile Spatial Cable Robot With Flexible Cables and Investigating the Effect of Its Nonlinear Vibrations on the System Dynamics

Robust Adaptive Backstepping Motion Control of Underwater Cable-Driven Parallel Mechanism Using Improved Linear Model Predictive Control

FEM-Based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging

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