Force-Distribution Sensitivity to Cable-Tension Errors: A Preliminary Investigation

Mattioni, Valentina; Idá, Edoardo; Carricato, Marco

doi:10.1007/978-3-030-75789-2_11

Cited by 9 publications

(17 citation statements)

References 15 publications

(20 reference statements)

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“…On the contrary, in the HRPCable case, whose cable attachment points are not symmetric to avoid cable interference (see Tab.1 and Fig. 2b), the results obtained with the pair 7-8 are clearly better than the results obtained with other pairs, and could be further optimized, for example by allowing the EE to rotate as demonstrated in [8]. Pair 7-8 not only has the highest percentage of configurations with an acceptable σ among all cable combinations, but it also shows the lowest maximum value of σ in the entire WS (4.41N).…”

Section: A Practical Cable-selection Strategymentioning

confidence: 98%

“…A selection criterion for force-controlled cables in hybrid joint-space control was initially proposed in [8] and later extended in [10]. This criterion is based on evaluating a performance index, called force-distribution sensitivity to cable tension error (FD sensitivity, in short), which allows quantifying how the FD is influenced by the tension error in a chosen force-controlled cable set.…”

Section: Introductionmentioning

confidence: 99%

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A Practical Approach for the Hybrid Joint-Space Control of Overconstrained Cable-Driven Parallel Robots

Mattioni

Idá

Gouttefarde

et al. 2023

Mechanisms and Machine Science

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Hybrid joint-space control of overconstrained cable-driven parallel robots requires regulating the length of as many cables as the degrees of freedom of the end-effector, and controlling the tension of the remaining ones. Previous studies showed how to choose which cables to length control, and which ones to tension control, according to minimum tension error propagation techniques. The sets of tension-controlled and length-controlled cables achieving minimum tension error propagation typically vary throughout the workspace, which is an undesirable outcome. This paper aims to achieve practicality in hybrid joint-space control, by investigating which cables to be tension-and length-controlled in the whole workspace, without needing to change such sets. The HRPCable robot at LIRMM is analyzed for this application, and experiments are carried out on it.

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Section: A Practical Cable-selection Strategymentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

A Practical Approach for the Hybrid Joint-Space Control of Overconstrained Cable-Driven Parallel Robots

Mattioni

Idá

Gouttefarde

et al. 2023

Mechanisms and Machine Science

Self Cite

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show abstract

“…To face this issue and to exploit all the benefits coming from these multibody systems, optimal design, trajectory planning, and feedback control approaches are commonly studied. As for design, the use of overconstrained or overactuated configurations, together with optimized topologies or force-distribution algorithms, is widely investigated (see, e.g., [2][3][4]). As for motion planning strategies, the literature proposes several techniques to ensure a priori positive and bounded cable tensions along given paths (e.g., [5,6]).…”

Section: Introductionmentioning

confidence: 99%

Using Pose-Dependent Model Predictive Control for Path Tracking with Bounded Tensions in a 3-DOF Spatial Cable Suspended Parallel Robot

Bettega¹,

Richiedei²,

Trevisani³

2022

Machines

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This paper proposes the preliminary results on a novel control architecture based on model predictive control (MPC) for cable-driven parallel robots (CDPRs) and applies them to a three degrees of freedom (3-DOF) robot with a suspended configuration, leading to a cable-suspended parallel robot (CSPR). The goal of the control scheme is ensuring accurate path tracking of the reference end-effector path, while imposing a priori positive cable tensions. To handle the nonlinearities characterizing the dynamic model that governs this kind of multibody system and to keep the computational effort low, a position-dependent MPC algorithm with an embedded integrator is designed to compute the optimal cable tensions required to track the end-effector commanded path. Such tensions must belong to the feasible domain defined through a lower bound, which is slightly greater than zero, to ensure that cables pull the end-effector, and an upper bound, to represent the maximum stress that cables can withstand without breaking. The resulting controller is nonlinear, although it performs a local linearization in the prediction at each time step to reduce the computational effort. The optimal tensions are then transformed into the commanded motor torques through the inverse dynamic model of the servomotors driving the winches, since no force measurement is adopted in the controller implementation. The control architecture is designed and numerically validated through a spatial CSPR with lumped end-effector, and driven by three cables (i.e., with a non-redundant configuration). Four different paths are assumed to highlight various features of the proposed controller.

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“…In ref. [28], authors proposed a passive counterbalancing mechanism that enables the CDPRs' platform to provide a desired minimum force magnitude in any arbitrary direction all over the wrenchclosure workspace. In this optimization study, maximizing this force magnitude is considered as a performance index.…”

Section: Introductionmentioning

confidence: 99%

“…Mattioni et al [28] investigated the effect of tension error in one cable on the overall distribution of tensions in the other cables, by focusing on the planar overconstrained CDPRs with four cables. In ref.…”

Section: Introductionmentioning

confidence: 99%

Rapid and safe wire tension distribution scheme for redundant cable-driven parallel manipulators

et al. 2021

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A non-iterative analytical approach is investigated to plan the safe wire tension distribution along with the cables in the redundant cable-driven parallel robots. The proposed algorithm considers not only tracking the desired trajectory but also protecting the system against possible failures. This method is used to optimize the non-negative wire tensions through the cables which are constrained based on the workspace conditions. It also maintains both actuators’ torque and cables’ tensile strength boundary limits. The pseudo-inverse problem solution leads to an n-dimensional convex problem, which is related to the robot degrees of redundancy. In this paper, a comprehensive solution is presented for a 1–3 degree(s) of redundancy in wire-actuated robots. To evaluate the effectiveness of this method, it is verified through an experimental study on the RoboCab cable robot in the infinity trajectory tracking task. As a matter of comparison, some standard methods like Active-set and sequential quadratic programming are also presented and the average elapsed time for each method is compared to the proposed algorithm.

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Force-Distribution Sensitivity to Cable-Tension Errors: A Preliminary Investigation

Cited by 9 publications

References 15 publications

A Practical Approach for the Hybrid Joint-Space Control of Overconstrained Cable-Driven Parallel Robots

A Practical Approach for the Hybrid Joint-Space Control of Overconstrained Cable-Driven Parallel Robots

Using Pose-Dependent Model Predictive Control for Path Tracking with Bounded Tensions in a 3-DOF Spatial Cable Suspended Parallel Robot

Rapid and safe wire tension distribution scheme for redundant cable-driven parallel manipulators

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