Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism

Abstract

Abstract. This study proposes a haptic interactive robot (HIR) configuration and a control strategy based on a cable-driven parallel mechanism. The ball screw drives the cable to improve the motion control accuracy. The robot system control strategy improves the accuracy and stability of haptic interaction. Through configuration optimization design and analysis, eight cables are used to ensure that the robot end effector exerts force and enables motion. Moreover, a forward and inverse kinematics model of the robot is developed. According to the configuration of the HIR, an improved cable tension distribution algorithm can facilely determine the cable tension. Hence, each cable is consistently in a tight state, and the change in tension is not sudden. Drive unit and robot system control strategies are proposed to render the haptic interaction accurate and stable. A simulation experiment of a complex space motion track is implemented through the robot end effector, thus verifying the accuracy of the established forward and inverse kinematics model. The accuracy of the tension distribution algorithm, control strategy, and robot stability are verified through simulation experiments, considering different forces and motion tracks of robot end effectors.

An all-position type control strategy of the haptic interactive virtual training system based on cable-driven

“…One is the motor drive voltage U , and the other is the external interference force F (cable tension). Therefore, the mathematical model of the motor drive unit is 25 :…”

“…22 In terms of control, initially HIVMTS used a cable tension control strategy, such as the four cable space virtual motion robot designed by Laval University in Canada, which can simulate collisions between objects of different shapes and has three DOF 23 ; Zou et al analyzed the stiffness of the astronaut training system and improved the tension control strategy based on the system stiffness to enhance smoothness 24 ; And the parallel cable driven virtual robot which has improved in terms of workspace and control accuracy was designed by the team in which the author participated. 25 The systems that use this control strategy in other fields include the variable stiffness parallel cable drive mechanism designed by Zhang et al 26 The parallel series hybrid joint proposed by them has the characteristics of light structure and large workspace. However, the disadvantage of the cable tension control strategy is that the motion control accuracy is low and difficult to apply in reality.…”

A New Composite Control Strategy for an Astronaut Virtual Operation Training System Based on Cable-Driven Technology

“…The function of LP is to control the position and pose of the end effector. Due to the inability to directly control the posture of the end effector, the posture of the end effector is indirectly controlled by controlling the displacement of LP [34]. LF has two functions.…”

Motion planning and control strategy of a cable-driven body weight support gait training robot

“…Because the cable-driven parallel mechanism offers distinct advantages, including minimal transmission vibration (Zou et al, 2022), low motion inertia (Chen et al, 2019;Song et al, 2023), a high load / mass ratio (Niu et al, 2017), and a large working space (Wang et al, 2021;Zou et al, 2019), it is not easy to cause reinjury to the affected limb during the training process. Therefore, it is very suitable for the rehabilitation of patients with limb movement disorders (Ghrairi et al, 2023).…”