Optimal Control of a Wheeled Mobile Cable-Driven Parallel Robot ICaSbot with Viscoelastic Cables

Korayem, Moharam Habibnejad; Yousefzadeh, M.; Tourajizadeh, Hami

doi:10.1017/s0263574719001607

Cited by 11 publications

(4 citation statements)

References 20 publications

(31 reference statements)

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“…Martins et al applied a nonlinear inner-loop FL control on a UAV and also employed LQR with integrative action in the outer and inner loop [15]. Application of the LQR design on the linearized dynamics of a cable-driven mobile robot was illustrated for increasing load-carrying capacity [16]. Here in this work, the same approach is used to provide an optimal trade-off between the error and input control using a linear quadratic regulator embedded in the feedback linearization structure.…”

Section: Introductionmentioning

confidence: 99%

Theoretical and Experimental Investigation on Body Control after Perching for Flapping-Wing Robots: Extending the Workspace for Manipulation

Luque

Satue

Nekoo

et al. 2023

2023 International Conference on Unmanned Aircraft Systems (ICUAS)

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This work investigates a post-perching control for flappingwing flying robots (FWFRs) to control and move the system on a branch. The flapping-wing aerial systems are lightweight platforms that mimic the birds' flight and they could serve for monitoring and inspection. The interaction of the FWFRs with the environment needs to fulfill perching on a branch, as a preliminary step, then moving the body to gain access to the desired pose and workspace. The leg of the robot moves the bird to the proper position. This work studies the mathematical modeling, simulation, and experimental implementation of this topic. A three-degree-of-freedom system is presented to model the robot's body, tail, and leg. A nonlinear controller, so-called feedback linearization (FL) is used for the control of the robot. A linear quadratic regulator (LQR), plus an integrator, are embedded in the FL controller to deliver optimal control for the linearized system. The simulation results show that the actuated leg extends the workspace of the robot significantly and confirms the effectiveness of the proposed strategy for body control. Experimental results present similar behavior of the system using the proposed controller for different desired setpoints.

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Section: Introductionmentioning

confidence: 99%

Theoretical and Experimental Investigation on Body Control after Perching for Flapping-Wing Robots: Extending the Workspace for Manipulation

Luque

Satue

Nekoo

et al. 2023

2023 International Conference on Unmanned Aircraft Systems (ICUAS)

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“…The first CDPR, RoBoCrane, was developed in 1989 by the National Institute of Standards and Technology [2]. Since then, multiple types of CDPRs have been proposed for different applications, including a wheeled robot combined with a cable robot [3], a CDPR-6DOF for upper and lower extremity mobility [4, 5], and a CDPR for upper limb rehabilitation [6, 7]. However, these designs may not fit all motions due to an increased modeling complexity.…”

Section: Introductionmentioning

confidence: 99%

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

Khadem,

Inel,

Carbone

et al. 2023

Robotica

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This paper presents a novel cable-driven parallel robot with the aim of rehabilitating/exercising young and disabled children in drawing and writing tasks. The pyramidal topology was identified as providing the required three active translational Degrees of Freedom with a redundant set of five cables in a compact portable shape. In addition, this robot was designed with new features, as it is inexpensive, easy to control, easy to move to any place at home or school as it is fitting a home desk or classroom table. In this paper, we present the main steps for designing the proposed cable-driven pyramidal parallel robot. Specific attention is addressed to the design of the structure and the end effector as well as to establishing proper simulation models. Several simulations are proposed by implementing both kinematic and dynamic models to demonstrate the feasibility of multiple writing/drawing tasks. A specific user interface is proposed allowing both continuous and intermittent trajectories. A sliding mode control is implemented to achieve suitable tracking accuracy on a desired path. Finally, an experimental validation is successfully carried out by considering multiple trajectories for demonstrating the engineering feasibility and effectiveness of the proposed design and simulation models.

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“…The challenges arising in the control of CDPRs have been the subject of many research works. Particularly significant in this field are, for example, the work on orientability by Vikranth Reddy [5]; the work [6] where the control takes into account the viscoelastic effect of cables; the work on the pseudo-drag effect at high speed that is reported, for example, in [7]; or the work on high-frequency and oscillation reduction that is reported, for example, in [8].…”

Section: Introductionmentioning

confidence: 99%

A Non-Linear Continuous-Time Generalized Predictive Control for a Planar Cable-Driven Parallel Robot

2021

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This paper addresses a novel nonlinear algorithm for the trajectory tracking of a planar cable-driven parallel robot. In particular, we outline a nonlinear continuous-time generalized predictive control (NCGPC). The proposed controller design is based on the finite horizon continuous-time minimization of a quadratic predicted cost function. The tracking error in the receding horizon is approximated using a Taylor-series expansion. The main advantage of the proposed NCGPC is based on using an analytic solution, which can be truncated to a desired degree of order of the Taylor-series. This allows us to achieve a prediction horizon of NCGPC tracking performance. The description of the proposed NCGPC method is followed by a comparison between NCGPC and a conventional computed torque control (CTC) method. Robustness tests are performed by considering payload and parameter uncertainties for both controllers. Simulation results of NCGPC compared to the commonly used CTC prove the effectiveness and advantages of the proposed approach.

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Optimal Control of a Wheeled Mobile Cable-Driven Parallel Robot ICaSbot with Viscoelastic Cables

Cited by 11 publications

References 20 publications

Theoretical and Experimental Investigation on Body Control after Perching for Flapping-Wing Robots: Extending the Workspace for Manipulation

Theoretical and Experimental Investigation on Body Control after Perching for Flapping-Wing Robots: Extending the Workspace for Manipulation

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

A Non-Linear Continuous-Time Generalized Predictive Control for a Planar Cable-Driven Parallel Robot

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