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

Abstract

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.

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

“…34 Mousavi et al designed a fast and safe tension distribution scheme to improve safety during operation. 35 These methods are designed based on indicators such as energy saving and driver performance utilization. The fluctuation of the cable tension is large, resulting in a large burden on the control and drive system.…”