Solving the Forward Kinematics of Cable-Driven Parallel Robots with Neural Networks and Interval Arithmetic

Schmidt, Valentin; Muller, B.; Pott, Andreas

doi:10.1007/978-94-007-7214-4_12

Cited by 17 publications

(7 citation statements)

References 11 publications

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“…Since the CDPR is over-constrained robot system with eight cables and 6-DOF end-effector, unique forward kinematic solution does not exist and various complicated computation algorithms are studied for the forward kinematics solver. 18,19 Here, we utilized the reduced Jacobian method as in equation (3) 20…”

Section: Robot Kinematics and Dynamicsmentioning

confidence: 99%

Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

Piao

Jin

Jung

et al. 2017

Advances in Mechanical Engineering

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A polymer cable-driven parallel robot has a wide range of potential industrial applications by virtue of its light actuator dynamics, high payload capability, and large workspace. However, due to a viscoelastic behavior of polymer cable and difficulty in actual cable length measurement, there have been inevitable position and tracking control accuracy problems such as pick and place a high payload application. In this article, to overcome control problem, we propose a modelbased open-loop control with the cable elongation compensation via experimentally driven cable model and switching control logic without additional Cartesian space feedback signal. The approach suggests a five-element cable model that is made with series combination of a linear spring and two Voigt models as a function of payload and cable length that are available to be measured in real-time. Experimental results show that using the suggested method, the cable length error due to viscoelastic effect can be compensated, and thus the position control accuracy of the polymer cable-driven parallel robot improved remarkably especially in gravity direction.

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Section: Robot Kinematics and Dynamicsmentioning

confidence: 99%

Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

Piao

Jin

Jung

et al. 2017

Advances in Mechanical Engineering

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“…A more specialized method for cable robots with linear drives and elastic deformation in the cables was also shown in [10]. Other possible methods include neural networks or combinational approaches [11].…”

Section: Introductionmentioning

confidence: 99%

On the forward kinematics of cable-driven parallel robots

Pott

Schmidt

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Most cable-driven parallel robots are kinematically over-constrained mechanisms. This results in a non-trivial computation of the forward kinematic transformation. It is well known that the forward kinematics of parallel robots may have multiple solutions and in general the convergence of numerical methods is unknown. In recent works, it was proposed to formulate the forward kinematics as optimization problem that models the cables as linear springs in order to compute the platform pose which has minimal potential energy in the cables. In this paper, we analyzed this objective function. Using the Hessian matrix, we show that under certain conditions the problem at hand is convex and we can expect a unique and stable minimum. The computations are exemplified for point-shaped platforms as well as for the planar case. For the spatial case, we present an encouraging numerical study. An ordinary least squares method is then applied to find a position approximation and an improvement to previous methods is demonstrated.

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“…Ayrıca, birkaç farklı yöntemin özelliklerinden faydalanmak için karma (hybrid) yöntemler de geliştirilmiştir (Pott 2010). Bu yöntemlere örnek olarak YSA ve Levenberg-Marquardt (Schmidt 2014) ile Tetrahedron ve Levenberg-Marquardt verilebilir. Karma yöntemlerinin yakınsama doğruluğunu artırmak için sayısal en iyileme de (optimization) uygulanmıştır (Pott 2015).…”

Section: Gi̇ri̇ş (Introduction)unclassified

Kablo İle Sürülen Düzlemsel Paralel Bi̇r Robotun İleri̇ Ki̇nemati̇k Çözümü Ve Kontrolü

Sancak

Yamaç

İtik

2019

Konya Journal of Engineering Sciences

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Bu çalışmada, dört kablo ile sürülen, üç serbestlik dereceli düzlemsel bir paralel robotun hassas konum ve yönelim denetimi yapılmıştır. Kablo ile sürülen robotun geri beslemeli denetimi için gerekli olan durum değişkenleri, robotun ileri kinematik denklemlerinin çözülmesi ile elde edilmiştir. İleri kinematik denklemlerinin çözüm doğruluğunu artırmak ve yakınsama zamanını azaltmak için Yapay Sinir Ağları (YSA) ve Newton-Raphson yönteminin karma şekilde kullanıldığı bir yöntem kullanılmıştır. Bu karma yöntemde ilk olarak YSA ile bir başlangıç ileri kinematik çözüm elde edilmektedir. Elde edilen bu çözüm Newton-Raphson yönteminde başlangıç koşulu olarak kullanılarak, hem çözüme hızlı yakınsama sağlanmakta hem de sayısal çözümün doğruluğu artırılmaktadır. Ayrıca karma yöntem Newton-Raphson yönteminde başlangıç koşullarının kötü seçiminden meydana gelebilecek ıraksamaların önüne geçmektedir. Yapılan benzetim çalışmalarında, karma yöntem ile elde edilen ileri kinematik denklemlerinin gerçek zamanlı çözümleri robotun konumunu ve yönelimini denetlemek için tasarlanan kayan kipli denetleyicice geri besleme sinyali olarak kullanılmıştır. Elde edilen sonuçlar, birlikte kullanılan yöntemlerin kablo ile sürülen düzlemsel paralel robotun hassas denetiminde başarı sağlandığını göstermektedir.

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Solving the Forward Kinematics of Cable-Driven Parallel Robots with Neural Networks and Interval Arithmetic

Cited by 17 publications

References 11 publications

Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

On the forward kinematics of cable-driven parallel robots

Kablo İle Sürülen Düzlemsel Paralel Bi̇r Robotun İleri̇ Ki̇nemati̇k Çözümü Ve Kontrolü

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