Wave Based Control of A Deployable Cable Driven Robot

S. A. Khalilpour, R. Khorrambakht, H. Taghirad, P. Cardou
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引用次数: 8

Abstract

Cable driven parallel manipulator are known by their low costs and numerous applications. However despite of all research interests and developed methods they are not yet vastly used in action. The reason for this, is their limiting requirements for accurate assembly and installation process. The main goal of this paper is to propose a suitable control method by which the robot could appropriately be controlled, requiring no accurate calibrations or precise sensors. As it is well known, uncertainty in kinematics equations can lead to loose cables in redundant robots controlled through joint space controllers. In this paper a simple but very effective joint space controller is proposed that addresses the problem of loose cables by a wave based control method by employing a novel force feedback scheme. Indeed, a new conceptual framework for controlling deployable cable driven parallel manipulators is introduced by which such robots are greatly empowered at real-world scenarios. Finally, the performance of the proposed controller and its effectiveness is verified through some practical experiments showing that the proposed controller outperforms conventional cascade topologies in terms of much smoother tracking performance.
可展开索驱动机器人的波浪控制
电缆驱动的并联机器人以其低成本和广泛的应用而闻名。然而,尽管有所有的研究兴趣和开发的方法,它们尚未在行动中广泛使用。其原因是它们对精确装配和安装过程的限制要求。本文的主要目标是提出一种合适的控制方法,通过这种方法可以适当地控制机器人,不需要精确的校准或精确的传感器。众所周知,在关节空间控制器控制的冗余机器人中,运动学方程的不确定性会导致缆索松动。本文提出了一种简单而有效的关节空间控制器,通过采用一种新颖的力反馈方案,采用基于波的控制方法来解决松索问题。事实上,一个新的概念框架,用于控制可展开的电缆驱动的并联机械手被引入,这类机器人在现实世界的场景中得到了极大的授权。最后,通过一些实际实验验证了所提控制器的性能及其有效性,表明所提控制器在更平滑的跟踪性能方面优于传统的级联拓扑。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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