Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots

Rodriguez-Barroso, Alejandro; Saltarén, Roque; Portilla, Gerardo; Cely, Juan S.; Carpio, Marco

doi:10.1109/sst.2018.8564635

Cited by 6 publications

(10 citation statements)

References 11 publications

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“…The values considered along each axis of the robot are: In Figure 4, the graph of the trajectories 6-1-6 in the task space can be seen, which was used for the robot as positional references. In Figures 5-7, the curves for speed, acceleration, and jerk are shown, which were derived from the position curve, showing that in all cases they were smooth paths that did not present discontinuities [21].…”

Section: Trajectory Planningmentioning

confidence: 97%

“…To meet the expressed requirements of path continuity and smoothness, a 6-1-6 polynomial path can be adjusted [21]. This position path has a sixth-order polynomial in the acceleration and deceleration section, while the middle section guarantees constant speed with a first-order polynomial.…”

Section: Trajectory Planningmentioning

confidence: 99%

“…In the case shown in [20], a Catmull-Rom spline-based path planning scheme was proposed, which allowed a robot to move through several points with a method of speed limitation used at the beginning and end of each node, optimized through time scaling to keep speed and acceleration separated. Finally, in [21], a CDPR was used to simulate underwater conditions on a humanoid robot planning a dynamic polygonal 6-1-6 trajectory, to set the necessary speed and acceleration of the system tracking the humanoid robot.…”

Section: Introductionmentioning

confidence: 99%

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Proposal of a Decoupled Structure of Fuzzy-PID Controllers Applied to the Position Control in a Planar CDPR

et al. 2021

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The design of robot systems controlled by cables can be relatively difficult when it is approached from the mathematical model of the mechanism, considering that its approach involves non-linearities associated with different components, such as cables and pulleys. In this work, a simple and practical decoupled control structure proposal that requires practically no mathematical analysis was developed for the position control of a planar cable-driven parallel robot (CDPR). This structure was implemented using non-linear fuzzy PID and classic PID controllers, allowing performance comparisons to be established. For the development of this research, first the structure of the control system was proposed, based on an analysis of the cables involved in the movement of the end-effector (EE) of the robot when they act independently for each axis. Then a tuning of rules was carried out for fuzzy PID controllers, and Ziegler–Nichols tuning was applied to classic PID controllers. Finally, simulations were performed in MATLAB with the Simulink and Simscape tools. The results obtained allowed us to observe the effectiveness of the proposed structure, with noticeably better performance obtained from the fuzzy PID controllers.

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Section: Trajectory Planningmentioning

confidence: 97%

Section: Trajectory Planningmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Proposal of a Decoupled Structure of Fuzzy-PID Controllers Applied to the Position Control in a Planar CDPR

et al. 2021

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“…The imposed values of tension in redundant cables could be used to set softer variations in the torque of the motor or for modifying the stiffness of the links if they have nonlinear springs. If the linear deformation is imposed, it can be used for controlling reconfigurable end-effectors, like in (Barbazza, Oscari, et al, 2017) (Barbazza, Zanotto, et al, 2017)(Rodriguez- Barroso et al, 2018).…”

Section: 2-related Workmentioning

confidence: 99%

“…One of the main differences between a CDPR and a usual parallel robot (Jean-Pierre Merlet, 2006) is the flexibility and elasticity of the cables (Ottaviano & Castelli, 2010). This characteristic was used to control reconfigurable end-effectors with compliant actuators, in chapter 3 (Rodriguez- Barroso et al, 2018), where the actuation of a single cable exerts its influence on two different bodies. As observed, the input from one actuator can provide a displacement and a force at the same time.…”

Section: 1-introductionmentioning

confidence: 99%

Cable-driven Parallel Robot to Simulate the Underwater Environment in Humanoids

Rodriguez-Barroso¹

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En primer lugar, le agradezco a Dios, por haberme dado la oportunidad de estar aquí y por su constante ayuda en todo momento y en toda circunstancia.Agradezco enormemente el apoyo más solicitado de lo normal de mis padres, mi hermana y el resto de toda mi familia por estar ahí. Me he alegrado de compartir con ellos mis alegrías y me ha dolido hacerlo con los sufrimientos.Todo esto no hubiera sido posible sin la inestimable labor de mi Director de Tesis Roque Saltarén, desde la oportunidad que me brindó y su confianza para iniciar esta tesis hasta las etapas finales. Por estar ahí cuando ha hecho falta, por su ayuda tanto técnica y científica como emocional.Agradezco a todos aquellos compañeros del Grupo de Robots y Máquinas Inteligentes que he conocido y que me han aportado ayuda técnica, pero, más importante, un aprendizaje humano de lo que significa ser investigador. Rafael Aracil, que con sus clases de control me convenció para entrar en este campo. A Darly Peña, por ser quién estuvo ahí cuando llegué al Grupo, siempre dispuesta para ayudar a todos. A Gonzalo Ejarque y Gabriel Poletti, que con su dedicación y gran esfuerzo en el desarrollo de sus tesis doctorales con Avatar y DiverBot fueron mi principal fuente de inspiración. A Miguel Pérez Bayas, que fue quien adelantó la investigación sobre CDPR y sobre la que partí en la presente investigación. A Juan Cely, por su concepción de lo que significa ser un Grupo, colaborar y ayudarse mutuamente. A Gerardo Portilla, por su visión para desarrollar proyectos ambiciosos, por su profunda filosofía y mente abierta para cualquier tema. A Marco Carpio, porque sabe que además de la robótica está el factor humano, la organización de equipos y la prudencia. A Oz Yakrangi, porque supo ver que ciencia y religión pueden coexistir. También agradezco a otros muchos compañeros de trabajo del CAR y la ETSII. A Ángel, porque siempre está ahí para ayudar con los prototipos, a Rosa y Carlos, por su paciencia con nuestros trámites burocráticos y nuestras compras.A los alumnos de máster Yaru Tang y Yuhua Tang, por su gran ilusión, espléndido trabajo y dedicación y por pasar un buen tiempo aprendiendo juntos y tratando de realizar las etapas iniciales del control del cabrestante. Asi mismo, agradecer a los alumnos Eyal Zimmerman y Daniel Bernstein, por continuar los trabajos con el prototipo CARcinos hacia su segunda versión.Muchas otras personas han hecho de esta tesis un hecho:

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Comparison of Different Robust Control Methods for Trajectory Tracking of Cable-Driven Parallel Robots in Fluidic Environment

Zarebidoki

Dhupia

Wang

2023

Lecture Notes in Networks and Systems

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Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots

Cited by 6 publications

References 11 publications

Proposal of a Decoupled Structure of Fuzzy-PID Controllers Applied to the Position Control in a Planar CDPR

Proposal of a Decoupled Structure of Fuzzy-PID Controllers Applied to the Position Control in a Planar CDPR

Cable-driven Parallel Robot to Simulate the Underwater Environment in Humanoids

Comparison of Different Robust Control Methods for Trajectory Tracking of Cable-Driven Parallel Robots in Fluidic Environment

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