Abstract
One important design criteria of a cable-driven parallel robot is its workspace. Disturbance effects on drive systems, pulley mechanisms and cables have a major impact on the workspace due to their influence on cable forces. Thus, the computed wrench-feasible workspace with ideal kinematic constraints may not be valid while operating the platform of a cable robot. To ensure that the platform moves within the workspace, cable forces can be controlled, whereby kinematic inaccuracies such as calibration errors affecting the platform’s positional accuracy. Hence, in this paper a concept of the velocity based hybrid position-force controller is presented in order to pretension cable forces on one hand, and ensure positioning accuracy on the other hand. The controller stability is investigated on extreme poses outside the wrench-feasible workspace hull of a dynamic model of a planar cable robot in simulation environment. Thereupon, the hybrid controller was implemented in a real-time control system and analyzed on the cable robot setup COPacabana with experiments inside and outside the computed workspace border. The analysis of measured signals is based on statistical investigation by performing multiple measurements of the same platform trajectory. Both, simulation and experiments show that the proposed velocity based hybrid position-force controller is feasible and can be applied to move the platform outside the workspace.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Fang, S., Franitza, D., Torlo, M., Bekes, F., Hiller, M.: Motion control of a tendon-based parallel manipulator using optimal tension distribution. IEEE/ASME Trans. Mechatron. 9(3), 561–568 (2004)
International Organization for Standardization: ISO 6983. Automation systems and integration - Numerical control of machines - Program format and definitions of address words, December 2009
Kraus, W., Miermeister, P., Schmidt, V., Pott, A.: Hybrid position-force control of a cable-driven parallel robot with experimental evaluation. Mech. Sci. 6(2), 119–125 (2015)
Mattingley, J., Boyd, S.: CVXGEN: a code generator for embedded convex optimization. Optim. Eng. 13(1), 1–27 (2012). https://doi.org/10.1007/s11081-011-9176-9
Miermeister, P., Kraus, W., Lan, T., Pott, A.: An elastic cable model for cable-driven parallel robots including hysteresis effects. In: Pott, A., Bruckmann, T. (eds.) Proceedings of the Second International Conference on Cable-Driven Parallel Robots (CableCon 2014). Mechanisms and Machine Science, vol. 32, pp. 17–28. Springer, Cham (2015)
Piao, J., et al.: Indirect force control of a cable-driven parallel robot: tension estimation using artificial neural network trained by force sensor measurements. Sensors (Basel Switz.) 19(11), 2520 (2019). https://www.mdpi.com/1424-8220/19/11/2520
Pott, A.: Forward kinematics and workspace determination of a wire robot for industrial applications. In: Lenarčič, J., Wenger, P. (eds.) Proceedings of the 11th International Conference on Advances in Robot Kinematics (ARK 2008), pp. 451–458. Springer (2008)
Pott, A.: Cable-Driven Parallel Robots: Theory and Application. Springer Tracts in Advanced Robotics, vol. 120. Springer, Cham (2018)
Pott, A., Bruckmann, T., Mikelsons, L.: Closed-form force distribution for parallel wire robots. In: Kecskeméthy, A., Müller, A. (eds.) Computational Kinematics, pp. 25–34. Springer, Berlin (2009)
Raibert, M.H., Craig, J.J.: Hybrid position/force control of manipulators. J. Dyn. Syst. Meas. Contr. 102(2), 126–133 (1981)
Santos, J.C., Chemori, A., Gouttefarde, M.: Model predictive control of large-dimension cable-driven parallel robots. In: Pott, A., Bruckmann, T. (eds.) Proceedings of the Fourth International Conference on Cable-Driven Parallel Robots (CableCon 2019). Mechanisms and Machine Science, vol. 74, pp. 221–232. Springer, Cham (2019)
Santos, J.C., Chemori, A., Gouttefarde, M.: Redundancy resolution integrated model predictive control of CDPRS: concept, implementation and experiments. In: IEEE/RAS International Conference on Robotics and Automation (ICRA 2020). IEEE (2020)
Schmidt, V., Pott, A.: Investigating the effect of cable force on winch winding accuracy for cable-driven parallel robots. Proc. Inst. Mech. Eng. Part K J. Multi-body Dyn. 24, 315–323 (2015)
Tempel, P.: Dynamics of cable-driven parallel robots with elastic and flexible, time-varying length cables. Ph.D. thesis, Stuttgart (2019)
Tempel, P., Miermeister, P., Lechler, A., Pott, A.: Modelling of kinematics and dynamics of the IPAnema 3 cable robot for simulative analysis. Appl. Mech. Mater. 794, 419–426 (2015)
Trautwein, F., Reichenbach, T., Tempel, P., Pott, A., Verl, A.: COPacabana: a modular cable-driven parallel robot. In: Pfurner, M., Dohnal, F. (eds.) Sechste IFToMM D-A-CH Konferenz (2020)
Verhoeven, R.: Analysis of the workspace of tendon-based stewart platforms. Ph.D. thesis, University of Duisburg-Essen, Duisburg, Germany (2004)
Zirn, O., Weikert, S.: Modellbildung und Simulation hochdynamischer Fertigungssysteme: Eine praxisnahe Einführung. Springer, Heidelberg (2006)
Acknowledgments
This work was supported by the Graduate School of Excellence advanced Manufacturing Engineering (GSaME) at the University of Stuttgart.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Reichenbach, T., Rausch, K., Trautwein, F., Pott, A., Verl, A. (2021). Velocity Based Hybrid Position-Force Control of Cable Robots and Experimental Workspace Analysis. In: Gouttefarde, M., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. CableCon 2021. Mechanisms and Machine Science, vol 104. Springer, Cham. https://doi.org/10.1007/978-3-030-75789-2_19
Download citation
DOI: https://doi.org/10.1007/978-3-030-75789-2_19
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-75788-5
Online ISBN: 978-3-030-75789-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)