Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel Robot

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI:10.1109/ICROM.2017.8466147

Masoud Ghanbari, Mohammadreza Mousavi, S. A. A. Moosavian, A. Nasr, P. Zarafshan

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引用次数: 3

Abstract

This paper addresses the challenge of redundancy resolution in parallel cable robots. Redundancy resolution leads in infinite solutions for tension distribution in cables and hence, force distribution has so far turned into an optimization problem in this class of robots. Therefore, the purpose of this work is to propose a method to optimize the force distribution in cables. In the proposed method, the null space of structure matrix is mapped into the joint space in such a way that all actuators remain in an optimal compromission of actuator forces. Investigation of tension distribution along the cables requires an effective modeling of cables. The proposed algorithm is evaluated within an experimental study on the RoboCab, a cable-driven parallel robot. Results demonstrate the ability of the algorithm to keep the tensions within the desired interval while maintaining the optimality. It is derived that this algorithm can be applied as a force estimator in similar applications.

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一种缆索驱动并联机器人最优冗余解决方案的实验分析

本文解决了并联电缆机器人冗余度分辨率的难题。冗余分辨率导致张力分布的无限解，因此，力分布在这类机器人中已经变成了一个优化问题。因此，本工作的目的是提出一种优化索内力分布的方法。在该方法中，将结构矩阵的零空间映射到关节空间中，使所有作动器保持在作动器力的最优折衷状态。研究沿索的张力分布需要对索进行有效的建模。在缆索驱动并联机器人RoboCab的实验研究中，对该算法进行了评估。结果表明，该算法能够在保持最优性的同时将张力保持在期望的区间内。结果表明，该算法可以作为类似应用中的力估计器。

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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来源期刊

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)

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