Dynamic Trajectory Planning for Failure Recovery in Cable-Suspended Camera Systems

Passarini, Chiara; Zanotto, Damiano; Boschetti, Giovanni

doi:10.1115/1.4041942

Cited by 17 publications

(7 citation statements)

References 22 publications

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“…The literature on CDPRs has recently proposed several approaches for recovery after failure, to drive the end-effector in a safe position that should belong to the feasible workspace of the CDPR with the broken cable (see e.g. [8,9]).…”

Section: Motivations and State Of The Artmentioning

confidence: 99%

Load observer for cable failure detection in Cable Driven Parallel Robots: a machine learning approach

Bettega,

Piva,

Richiedei

et al. 2023

Preprint

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This paper proposes a method for cable failure detection in Cable Driven Parallel Robots (CDPR) which is based on the exploitation of the load observer (LO) concept together with machine learning algorithms. By just exploiting the dynamic model of each actuator in the conditions of no load, a LO is designed for each motor to estimate the presence of a load coupled through a cable. Since the load instantaneously goes to zero for the motor with a broken cable, a simple but effective and robust signature of failure can be inferred, to provide reliable detection even in the case of various model mismatches. Additionally, the LO is not computationally demanding since just motor measurements are required, thus avoiding any direct measurement (and a dynamic model as well) on the end-effector. The detection of a failure in made through supervised classification algorithms based on artificial intelligence. The training of the machine learning algorithm is based on an “hybrid” approach: the dataset includes several failure cases which are numerically generated through a system digital twin developed through the multibody system theory, together with measurements of the real system in non-failing conditions. Different classification algorithms are considered, together with different sets of input variables to be fed to the classifier. Two numerical examples are proposed, by showing the method capability in handling both fully actuated and redundantly actuated CDPRs under cable failure.

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Section: Motivations and State Of The Artmentioning

confidence: 99%

Load observer for cable failure detection in Cable Driven Parallel Robots: a machine learning approach

Bettega,

Piva,

Richiedei

et al. 2023

Preprint

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show abstract

“…In [16], algorithms to stop a cable-driven camera system after a cable failure are proposed. Dynamic trajectories into the post-failure workspace are planned.…”

Section: Introductionmentioning

confidence: 99%

Simulation and Model-Based Verification of an Emergency Strategy for Cable Failure in Cable Robots

Boumann

Brückmann

2022

Actuators

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Cable failure is an extremely critical situation in the operation of cable-driven parallel robots (CDPR), as the robot might be instantly outside of its predefined workspace. Therefore, the calculation of a cable force distribution might fail and, thus, the controller might not be able to master the guidance of the system anymore. However, as long as there is a remaining set of cables, the dynamic behavior of the system can be influenced to prevent further damage, such as collisions with the ground. The paper presents a feasible algorithm, introduces the models for dynamical multi-body simulation and verifies the algorithm within control loop closure.

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“…Passarini et al [16] presented a recovery strategy based on a single elliptical trajectory that was used to steer the end-effector to a safe point inside the new SEW. Moreover, this method could be designed to avoid collisions; this is possible by keeping the platform inside a cuboid and above a predetermined height.…”

Section: Introductionmentioning

confidence: 99%

Experimental Investigation of a Cable Robot Recovery Strategy

2021

Self Cite

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Developing an emergency procedure for cable-driven parallel robots is not a trivial process, since it is not possible to halt the end-effector by quickly braking the actuators as in rigid-link manipulators. For this reason, the cable robot recovery strategy is an important topic of research, and the literature provides several approaches. However, the computational efficiency of the recovery algorithm is fundamental for real-time applications. Thus, this paper presents a recovery strategy adopted in an experimental setup consisting of a three degrees-of-freedom (3-DOF) suspended cable robot controlled by an industrial PC. The presentation of the used control system lists the industrial-grade components installed, further highlighting the industrial implication of the work. Lastly, the experimental validation of the recovery strategy proves the effectiveness of the work.

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Dynamic Trajectory Planning for Failure Recovery in Cable-Suspended Camera Systems

Cited by 17 publications

References 22 publications

Load observer for cable failure detection in Cable Driven Parallel Robots: a machine learning approach

Load observer for cable failure detection in Cable Driven Parallel Robots: a machine learning approach

Simulation and Model-Based Verification of an Emergency Strategy for Cable Failure in Cable Robots

Experimental Investigation of a Cable Robot Recovery Strategy

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