Robust Internal Force-Based Impedance Control for Cable-Driven Parallel Robots

Reichert, Christopher; Müller, Katharina; Brückmann, Tobias

doi:10.1007/978-3-319-09489-2_10

Cited by 17 publications

(6 citation statements)

References 11 publications

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“…Based on the robot's inverse dynamic, see e.g. (Bruckmann et al 2013;Reichert et al 2014), the feed forward wrench w ff is calculated to follow the desired trajectory. Based on the total desired wrench w and the structure Fig.…”

Section: Robotic Control and Mechanical Systemmentioning

confidence: 99%

Cable Robotic 3D-printing: additive manufacturing on the construction site

et al. 2022

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This paper outlines an important step in characterizing a novel field of robotic construction research where a cable-driven parallel robot is used to extrude cementitious material in three-dimensional space, and thus offering a comprehensive new approach to computational design and construction, and to robotic fabrication at larger scales. Developed by the Faculty of Art and Design at Bauhaus-University Weimar (Germany), the faculty of Architecture at the University of Applied Sciences Dortmund (Germany) and the Chair of Mechatronics at the University of Duisburg-Essen (Germany), this approach offers unique advantages over existing additive manufacturing methods: the system is easily transportable and scalable, it does not require additional formwork or scaffolding, and it offers digital integration and informational oversight across the entire design and building process. This paper considers 1) key research components of cable robotic 3D-printing (such as computational design, material exploration, and robotic control), and 2) the integration of these parameters into a unified design and building process. The demonstration of the approach at full-scale is of particular concern.

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Section: Robotic Control and Mechanical Systemmentioning

confidence: 99%

Cable Robotic 3D-printing: additive manufacturing on the construction site

et al. 2022

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“…A.1 is reasonable since we use fast, high-performing industrial servomotors, while the outer loop is significantly slower due to the relatively higher mass of the platform; see also [11,20,21]. Moreover, with compliance, the actuators only affect each other via movement of the slower platform (they are not antagonistic [26]).…”

Section: ) Inner Loopmentioning

confidence: 99%

“…The actuators used in this paper are integrated servomotors controlled in position mode, where the motor shaft is connected to a cable drum via a clockspring, as illustrated in Figure 3. This has several advantages, such as: 1) it reduces the transmission stiffness such that the resulting force is less sensitive to end effector motions, 2) it increases compliance that hinders antagonistic actuator behaviour [26], 3) the rotational encoders measure the deflection of the actuator transmission system with high accuracy (which is useful for position feedforward purposes), and 4) the clockspring has close to linear force to deflection properties (which is useful for force feedforward purposes). We next describe each component of the system, including its modelling, in detail.…”

Section: Introductionmentioning

confidence: 99%

Force Tracking Using Actuated Winches With Position-Controlled Motors for Use in Hydrodynamical Model Testing

2021

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In this paper, we consider the problem of accurate force control using actuated winches, intended for use in real-time hybrid hydrodynamic model testing. The paper is also relevant to other cabledriven parallel robot applications that use force control in an inner control loop. For this problem, conventional strategies typically use actuated winches with torque-controlled servomotors directly connected to the cabled drum. In contrast, we propose using actuated winches with position-controlled servomotors that connect to the cabled drum via a clockspring. The servomotors are position controlled at drive-level and are rapid, accurate, robust, and simple to install. We show how this, combined with an accurate estimate of the clockspring deflection and stiffness, can yield fast and precise force tracking on moving objects. This includes proposing associated feedforward force-controllers that compensates for damping, angledependent force variations, delays, and non-constant clockspring characteristics. Extensive experimental testing on a 1 degree of freedom actuated mass-spring system supports the work. INDEX TERMSActuated winches; cable-driven parallel robots; force tracking; force control; hydrodynamic model testing; real-time hybrid model testing 2021This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication.

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“…No experimental validation has however been reported. Recently, Reichert et al [15] propose a robust internal force-based impedance control using a computed-torque structure. Each actuated cable, considered as a manipulator, is controlled to have a specified impedance.…”

Section: Context and State Of The Artmentioning

confidence: 99%

Control of cable-driven manipulators in the presence of friction

Abdelaziz

Barbé

Renaud

et al. 2017

Mechanism and Machine Theory

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Cable-driven systems are of great interest in applications for which remote actuation is required, like for instance to operate within medical imaging devices. In such applications, robotic architectures based on remotely actuated cable-driven manipulators (CDM) offer innovative design options. However, unlike more conventional CDM, such designs involve specific control problems. This paper deals with the control of CDM in the presence of friction, as experienced when particular design constraints have to be taken into account (size, materials, length of transmissions). In this case, the influence of friction on the manipulator motions is such that dynamic modeling, identification and control, are no longer adapted, nor even possible. As a result, for quasi-static positioning tasks, we propose a CDM position control strategy resulting from a cascade structure, with an internal cable tension control loop to handle friction. Cable tension is measured using an original instrumented compliant structure. From the control point of view, the originality of the present paper comes in particular from the development of a feasibility algorithm which allows us to limit cables tensions within a specified range. This strategy is experimentally assessed on a robot for image-guided medical procedures.

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Robust Internal Force-Based Impedance Control for Cable-Driven Parallel Robots

Cited by 17 publications

References 11 publications

Cable Robotic 3D-printing: additive manufacturing on the construction site

Cable Robotic 3D-printing: additive manufacturing on the construction site

Force Tracking Using Actuated Winches With Position-Controlled Motors for Use in Hydrodynamical Model Testing

Control of cable-driven manipulators in the presence of friction

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