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Hybrid cable tension–length compensation algorithm for dynamic performance improvement of mobile cable-driven parallel robot

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Abstract

This paper investigates a new approach for the control of Mobile Cable-Driven Parallel Robots (MCDPR) called the Hybrid tension–length compensation algorithm (HTLCA). The Cable-Driven Parallel Robot (CDPR) system controls the end-effector using cables, which is a different system structure from robots with rigid arms or Cartesian methods. The MCDPR combines with a mobile robot to overcome the limitations of the CDPR system, such as limited spatial mobility and the ability to achieve a larger workspace, providing higher degrees of freedom and efficient working space. However, there is currently no robust solution to control the end-effector in real-time and stability in dynamic environments. Therefore, this study proposes the HTLCA to compensate for control errors caused by various factors in dynamic environments. The proposed algorithm performs hybrid force and length closed-loop PID control using the calculated tension distribution algorithm (TDA) values of the cables for the end-effector position, target length values, and the measured tension distribution and length values of the current cables. Experimental results using the proposed HTLCA algorithm in CDPR and MCDPR modes show a 57.20% reduction in tension control errors compared to before its application in a mobile robot's driving environment. Therefore, HTLCA effectively compensates for errors by simultaneously controlling the tension distribution and length of the cables, improving dynamic performance, and ensuring stable control, thus demonstrating its validity.

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Data availability

The data supporting the findings of this study, which include MCDPR robot's driving data, are available upon request. Please contact Kyoung-Su Park at pks6348@gachon.ac.kr for access to the data. Restrictions may apply to the availability of these data, which were used under license for this study.

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Acknowledgements

This research was carried out with the support of the RCMS project of the Korea Evaluation Institute of Industrial Technology (RCMS), “Development of InLine System for TTV Improvement and Handling of Semiconductor Ultra-Thin Wafer” (20017476) and supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government(MSIT) (2021R1A2C2013053).

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Authors and Affiliations

  1. Department of Mechanical Engineering, Gachon University, Seongnam-si, South Korea

    Dong-Yeop Shin, Byeong-Geon Kim, Jin-Hwan Lim, Seok-Gyu Hong & Kyoung-Su Park

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  1. Dong-Yeop Shin
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  2. Byeong-Geon Kim
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  3. Jin-Hwan Lim
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  4. Seok-Gyu Hong
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  5. Kyoung-Su Park
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Contributions

Dong-Yeop Shin (DYS) developed the control algorithm, conducted experiments, performed data analysis, and wrote the main manuscript text. Byeong-Geon Kim (BGK) assisted in reviewing the control algorithm, provided advice, and contributed to the development, maintenance, and review of the experimental setup. Seok-Kyu Hong (SKH) and Jin-Hwan Lim (JHL) assisted in the development of the experimental setup and provided support during the experiments and data processing. Professor Kyoung-Su Park (KSP) supervised and guided the research as the principal investigator.

Corresponding author

Correspondence to Kyoung-Su Park.

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Conflict of interest

Author Dong-Yeop Shin declares that he has no conflict of interest. Author Byeong-Geon Kim declares that he has no conflict of interest. Author Jin-huwan Lim declares that he has no conflict of interest. Author Seok-Gyu Hong declares that he has no conflict of interest. Author Kyoung-Su Park declares that he has no conflict of interest.

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Shin, DY., Kim, BG., Lim, JH. et al. Hybrid cable tension–length compensation algorithm for dynamic performance improvement of mobile cable-driven parallel robot. Microsyst Technol (2024). https://doi.org/10.1007/s00542-024-05673-4

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