Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

Abstract

Abstract. The control of exible cable-driven parallel robots usually requires feedback not only from the joints, but also from the end-e ector pose or cable tension. This paper presents a new approach for reducing the vibration of exible cable-suspended robots, using only the feedback from the joints. First, the dynamic equations of a 6DOF cable-suspended parallel robot with elastic cables were derived by Gibbs-Appel formulation. Subsequently, three di erent control approaches were investigated based on the computational load and required sensors. As a result, a feedback linearization method based on the rigid model of the system was selected. In order to reduce the vibration, a robust input shaping method was employed to prevent excitation of natural modes. Simulation results revealed that the proposed approach leads to a noticeable vibration and settling time reduction in cases of low and high cable sti ness, respectively. Moreover, another simulation compared the presented approach with a composite controller, which used the feedbacks from the end-e ector and actuators. Thereafter, the performance of the approach in vibration reduction was quantitatively shown. Finally, experimental validation of the approach was accomplished by frequency analysis of the vibration obtained from the IMU sensor attached to the ende ector.

State-of-the-art on theories and applications of cable-driven parallel robots

“…Rushton and Khajepour [203] proposed a control strategy to eliminate out-of-plane vibrations in a planar CDPR by controlling the cable forces. de Rijk et al [204] and Rushton et al [205] proposed a vibration control method that adds a multi-axis response system to a planar CDPR. When the rigid pendulum swings, it generates a reaction force and torque on the end effector to achieve vibration suppression.…”

Humanoid NAO: A Kinematic Encounter

“…Sanjuan et al 33 provided kinematic solution for a US-RS-RPS 2-DOF parallel robot both in forward and inverse modes. Korayem et al 34 studied tracking control and vibration reduction of flexible cable-suspended parallel robots using a robust input shaper. Sayyadi and Babaee 35 designed control of nonholonomic mobile manipulators for cooperative object transportation.…”

Modelling, Control and Simulation of a SCARA PRR-Type Robot Manipulator

“…This study enjoys some advantages over these types of works, which include only modeling and simulation. Kaleli et al [8] and Korayem et al [9] designed a program for simulating and animating the robot kinematics and dynamics in LabView software. Similar to these works, there are various robot control, simulation, and calculation program studies in the literature [10{20].…”