Dynamics and Control of a 6-dof Cable-driven Parallel Robot with Visco-elastic Cables in Presence of Measurement Noise

Korayem, Moharam Habibnejad; Yousefzadeh, M.; Beyranvand, B.

doi:10.1007/s10846-017-0546-1

Cited by 30 publications

(18 citation statements)

References 17 publications

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“…In particular, a standard mathematical model of the cable behavior does not exist that compensates the cable uncertainties including elongation, degradation, creep, and so on. In this study, we assume that the cable behavior makes nongeometric errors [ 23 ], and thus, we conducted the cable deformation experiments and derived the surface fitting models of the cable elongation in terms of the cable length and tensions. From the MATLAB surface fitting results, we obtained the fifth-order polynomial equation as the following:

…”

Section: Models To Compensate Uncertainties Of the Cable-driven Pamentioning

confidence: 99%

Geometric Parameter Calibration for a Cable-Driven Parallel Robot Based on a Single One-Dimensional Laser Distance Sensor Measurement and Experimental Modeling

Jin

Jung

et al. 2018

Sensors

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A cable-driven parallel robot has benefits of wide workspace, high payload, and high dynamic response owing to its light cable actuator utilization. For wide workspace applications, in particular, the body frame becomes large to cover the wide workspace that causes robot kinematic errors resulting from geometric uncertainty. However, appropriate sensors as well as inexpensive and easy calibration methods to measure the actual robot kinematic parameters are not currently available. Hence, we present a calibration sensor device and an auto-calibration methodology for the over-constrained cable-driven parallel robots using one-dimension laser distance sensors attached to the robot end-effector, to overcome the robot geometric uncertainty and to implement precise robot control. A novel calibration workflow with five phases—preparation, modeling, measuring, identification, and adjustment—is proposed. The proposed calibration algorithms cover the cable-driven parallel robot kinematics, as well as uncertainty modeling such as cable elongation and pulley kinematics. We performed extensive simulations and experiments to verify the performance of the suggested method using the MINI cable robot. The experimental results show that the kinematic parameters can be identified correctly with 0.92 mm accuracy, and the robot position control accuracy is increased by 58%. Finally, we verified that the developed calibration sensor devices and the calibration methodology are applicable to the massive-size cable-driven parallel robot system.

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…”

Section: Models To Compensate Uncertainties Of the Cable-driven Pamentioning

confidence: 99%

Geometric Parameter Calibration for a Cable-Driven Parallel Robot Based on a Single One-Dimensional Laser Distance Sensor Measurement and Experimental Modeling

Jin

Jung

et al. 2018

Sensors

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“…Proportional–integral–derivative (PID) controllers were widely used in the control of CDPRs. 9–14 The control of CDPRs based on optimal controllers 15,16 as well as fuzzy controllers 17 was also discussed by researchers. It was shown that adaptive controllers have a reliable performance in the control of CDPRs.…”

Section: Introductionmentioning

confidence: 99%

“…To deal with uncertainties of CDPRs, the robustness of controllers was studied. 15,19,24,25 The control of CDPRs with position-controlled actuators was discussed in the study by Begey et al 26 All the above-mentioned control strategies 9–26 assume the Jacobians 27 of the CDPRs can be determined in the control process. In other words, these control strategies rely on the Jacobians of the CDPRs and thus, are not applicable to the control of CDPRs with unknown Jacobians.…”

Section: Introductionmentioning

confidence: 99%

A learning-based control framework for cable-driven parallel robots with unknown Jacobians

Xiong

Zhang

Diao

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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Cable-driven parallel robots have been studied by many researchers in the past decades. The Jacobian of a cable-driven parallel robot may not be determined in some applications such as rehabilitation. In order to control the pose of a fully constrained cable-driven parallel robot with unknown Jacobian and driven by torque-controlled actuators, a learning-based control framework consisting of a robust controller and a neural network in series is proposed in this article. The neural network takes over the role of the Jacobian by mapping a wrench applied on the end-effector of the cable-driven parallel robot at a pose in the task space to a set of cable tensions in the joint space. In this way, the cable-driven parallel robot can be controlled by cable tensions derived from such a mapping, rather than solving the inverse dynamics problem based on the Jacobian. As an example, a control strategy is developed to demonstrate how the proposed control framework works. The control strategy includes a proportional–integral–derivative controller and a feedforward neural network. Simulation results show that the control strategy can successfully control a cable-driven parallel robot with four cables, three degrees of freedom, and unknown Jacobian.

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“…Effective utilizations of flexible elements into the robotic locomotion have attracted significant interests in robotics and control communities. The motivations are diverse, for instance, to build up safer interactions with humans [1,2], to improve the model accuracy of the robotic systems [3,4], to achieve higher level of manoeuvrability, high bandwidth mechanical compliance, flexibility, agility, controllability, adaptability, and efficacy in fulfilling large scope of tasks in unstructured and hazardous environment [5][6][7][8][9][10][11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

“…(5) and(6), and letting ( ) = ( ), ( ) = ( ), ( ) = ( ), ( ) = ̇( ), we have the state-space representations…”

mentioning

confidence: 99%

A self-propelled robotic system with a visco-elastic joint: dynamics and motion analysis

Liu

Huda

Tang

et al. 2019

Engineering with Computers

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This paper studies the dynamics and motion generation of a self-propelled robotic system with a visco-elastic joint. The system is underactuated, legless and wheelless, and has potential applications in environmental inspection and operation in restricted space which are inaccessible to human beings, such as pipeline inspection, medical assistance and disaster rescues. Locomotion of the system relies on the stick-slip effects, which interacts with the frictional force at the surface in contact. The nonlinear robotic model utilizes combined tangential-wise and normal-wise vibrations for underactuated locomotion, which features a generic significance for the studies on self-propelled systems. To identify the characteristics of the visco-elastic joint and shed light on the energy efficacy, parameter dependences on stiffness and damping coefficients are thoroughly analysed. Our studies demonstrate that dynamic behaviour of the self-propelled system is mainly periodic and desirable forward motion is achieved via identification of the variation laws of the control parameters and elaborate selection of the stiffness and damping coefficients. A motion generation strategy is developed, and an analytical two-stage motion profile is proposed based on the system response and dynamic constraint analysis, followed by a parameterization procedure to optimally generate the trajectory. The proposed method provides a novel approach in generating self-propelled locomotion, and designing and computing the visco-elastic parameters for energy efficacy. Simulation results are presented to demonstrate the effectiveness and feasibility of the proposed model and motion generation approach.

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Dynamics and Control of a 6-dof Cable-driven Parallel Robot with Visco-elastic Cables in Presence of Measurement Noise

Cited by 30 publications

References 17 publications

Geometric Parameter Calibration for a Cable-Driven Parallel Robot Based on a Single One-Dimensional Laser Distance Sensor Measurement and Experimental Modeling

Geometric Parameter Calibration for a Cable-Driven Parallel Robot Based on a Single One-Dimensional Laser Distance Sensor Measurement and Experimental Modeling

A learning-based control framework for cable-driven parallel robots with unknown Jacobians

A self-propelled robotic system with a visco-elastic joint: dynamics and motion analysis

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