Wave Based Control of A Deployable Cable Driven Robot

Khalilpour, S. A.; Khorrambakht, R.; Taghirad, Hamid D.; Cardou, Philippe

doi:10.1109/icrom.2018.8657565

Cited by 6 publications

(3 citation statements)

References 13 publications

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“…Further research on extensions to or applications of WBC has been published in, for example, [1][2][3][4]. Much of this work was tested using computer simulation and numerical models, but experimental work has also been carried out and reported on a variety of test rigs to verify the validity of the method practically in coping with simultaneous control of position and vibration [2,[11][12].…”

Section: Contextmentioning

confidence: 99%

Identifying and mitigating residual vibrations in wave-based control of lumped, flexible systems

2020

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Wave-based control (WBC) is a technique for motion control of under-actuated flexible systems. It envisages actuator motion as launching a motion wave into the system, while simultaneously absorbing any wave returning from the system. For rest-to-rest motion the net launch displacement is set at half the target displacement. In absorbing the returning wave and vibrations, WBC moves the system the remaining distance to the target, with zero steady-state error.The focus of this paper is on very small residual vibrations around the target position which can endure for a long time after arrival at target. This issue was discovered through a recent development within WBC context on controlling complex two-dimensional, mass-spring, beam-like arrays. To date their existence has been unidentified. This paper investigates and interprets the nature of these vibrations, explains and identifies them based on wave ideas, and finally offers a new wave-based approach to mitigate or suppress them. It also discusses their implication, not just for WBC but for the general problem of control of flexible systems.

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Section: Contextmentioning

confidence: 99%

Identifying and mitigating residual vibrations in wave-based control of lumped, flexible systems

2020

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“…Further research on extensions to or applications of WBC has been published in, for example, [6][7][8][9][10][11]. Much of this work was tested using computer simulation and numerical models, but experimental work has also been carried out and reported on a variety of test rigs to verify the validity of the method practically [4,[12][13]. For example, the ideas were applied to a very light and flexible arm, driven by a DC motor, to re-position a tip mass, supported on an almost frictionless air table, to a target position in a horizontal plane [4].…”

Section: Introductionmentioning

confidence: 99%

“…For example, the ideas were applied to a very light and flexible arm, driven by a DC motor, to re-position a tip mass, supported on an almost frictionless air table, to a target position in a horizontal plane [4]. Likewise, the idea of WBC has been successfully applied on cable driven manipulators and the cable structures working within large workspaces that are very flexible and challenging to be controlled [13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Wave-based motion and slewing control of a double-appendage, flexible system with ungrounded actuator through development of direct actuator force control

Habibi

O’Connor

2020

Mechanical Systems and Signal Processing

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Wave-based control is a relatively new approach which has already been applied successfully to control a range of underactuated, flexible mechanical systems, such as robots and cranes, through a rest-to-rest manoeuvre after it identifies, then measures and finally exploits the propagation time delay effects inherent in flexible systems. In this technique, the actuator motion is directly controlled in a way that, simultaneously, indirectly controls the motion of the attached flexible systems, thereby combining position control and active vibration damping. A significant development of this strategy is here presented, in which the directly controlled actuation variable is force (or torque) rather than position or motion, as before. This new formulation is particularly relevant for motion control of systems whose actuators are not grounded, such as spacecraft, with thrusters, reaction wheels or magnetic torquers, where the natural, actuator input variable is a force or torque, to be specified by the control law (rather than actuator motion). This development considers a real (non-ideal) actuator with significant inertia and thus associated time delay in responding to input signals. The new control design approach is presented, and applied to planar, translation and rotation (slewing) of an approximate model of a spacecraft having two flexible appendages, representing for example, solar panel arrays or antennas, modelled as systems of lumped masses and springs, with (possibly) different appendages on one spacecraft. Despite the dynamic complexity of the multiple attached flexible arrays, having many degrees of freedom, with complex vibration modes, and use of a non-ideal, ungrounded actuator, the proposed control strategy can achieve precise motion control, whether translation, rotation or both, while actively suppressing vibrations of the flexible appendages.

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Tip-trajectory tracking control of a deployable cable-driven robot via output redefinition

et al. 2020

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Wave Based Control of A Deployable Cable Driven Robot

Cited by 6 publications

References 13 publications

Identifying and mitigating residual vibrations in wave-based control of lumped, flexible systems

Identifying and mitigating residual vibrations in wave-based control of lumped, flexible systems

Wave-based motion and slewing control of a double-appendage, flexible system with ungrounded actuator through development of direct actuator force control

Tip-trajectory tracking control of a deployable cable-driven robot via output redefinition

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