Skip to main content
SpringerLink
Log in

Intuitive Bilateral Teleoperation of a Cable-driven Parallel Robot Controlled by a Cable-driven Parallel Robot

  • Regular Papers
  • Robot and Applications
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a local CDPR driven by a human. The proposed system comprises a master CDPR in the operating room, a slave CDPR in the workplace, wireless communication between the master and slave CDPRs, and an admittance control to realize the haptic force to the master CDPR. The master CDPR transmits the Cartesian posture command, based on an operator’s manipulation, to the slave CDPR, and the slave CDPR’s wrench force obtained through the cable tension measurement is fed back to the master CDPR. For validation, two CDPRs in different locations (approximately 7.46 km apart) are utilized; a mini-size CDPR is used as the master device and a grand-size CDPR is used as the slave robot. The experimental results demonstrate that the operator can fully control the slave robot’s six DOF motions with spatial force feeling in hand, and satisfactory synchronized movements of the two CDPRs at a distance could be performed. Also, a preliminary experimental result of the proposed wrench feedback method is discussed. The proposed method has practical benefits in field robotics applications in unmanned and hazardous workspaces, such as nuclear power plants and space, which require long-distance remote manipulation at different locations.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. A. Pott, Cable-Driven Parallel Robots, Springer Tracts in Advanced Robotics, vol. 120. Springer, Cham, 2018.

    Book  Google Scholar 

  2. S. Qian, B. Zi, W.-W. Shang, and Q.-S. Xu, “A review on cable-driven parallel robots,” Chinese Journal of Mechanical Engineering, vol. 31, no. 1, p. 66, December 2018.

    Article  Google Scholar 

  3. H. Kino and S. Kawamura, “Mechanism and Control of Parallel-Wire Driven System,” Journal of Robotics and Mechatronics, vol. 27, no. 6, pp. 599–607, December 2015.

    Article  Google Scholar 

  4. C. Gosselin, “Cable-driven parallel mechanisms: state of the art and perspectives,” Mechanical Engineering Reviews, vol. 1, no. 1, pp. DSM0004–DSM0004, 2014.

    Article  Google Scholar 

  5. X. Tang, “An overview of the development for cable-driven parallel manipulator,” Advances in Mechanical Engineering, vol. 6, p. 823028, January 2014.

    Article  Google Scholar 

  6. S. Kawamura and K. Ito, “A new type of master robot for teleoperation using a radial wire drive system,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’93), vol. 1, pp. 55–60, 1993.

    Google Scholar 

  7. J. Piao, X. Jin, J. Jung, E. Choi, J.-O. Park, and C.-S. Kim, “Open-loop position control of a polymer cable-driven parallel robot via a viscoelastic cable model for high payload workspaces,” Advances in Mechanical Engineering, vol. 9, no. 12, p. 168781401773719, December 2017.

    Article  Google Scholar 

  8. J.-P. Merlet, “The kinematics of cable-driven parallel robots with sagging cables: preliminary results,” Proc. of IEEE International Conference on Robotics and Automation (ICRA), pp. 1593–1598, 2015.

    Google Scholar 

  9. X. Diao and O. Ma, “Vibration analysis of cable-driven parallel manipulators,” Multibody System Dynamics, vol. 21, no. 4, pp. 347–360, May 2009.

    Article  MATH  Google Scholar 

  10. S. Lahouar, E. Ottaviano, S. Zeghoul, L. Romdhane, and M. Ceccarelli, “Collision free path-planning for cable-driven parallel robots,” Robotics and Autonomous Systems, vol. 57, no. 11, pp. 1083–1093, November 2009.

    Article  Google Scholar 

  11. L. L. Cone, “Skycam, an aerial robotic camera system,” Byte Magazine, vol. 10, no. 10, pp. 122–132, 1985.

    Google Scholar 

  12. S. Deng, F. Jing, R. Zheng, Z. Liang, and G. Yang, “Multi-objective pose optimal distribution method for the feed support system of five-hundred-meter aperture spherical radio telescope,” International Journal of Advanced Robotic Systems, vol. 15, no. 1, January 2018. DOI: 10.1177/1729881418756695

    Google Scholar 

  13. L. Scalera, P. Gallina, S. Seriani, and A. Gasparetto, “Cable-based robotic crane (CBRC): design and implementation of overhead traveling cranes based on variable radius drums,” IEEE Trans. on Robotics, vol. 34, no. 2, pp. 474–485, April 2018.

    Article  Google Scholar 

  14. P. Bosscher, R. L. Williams, L. S. Bryson, and D. Castro-Lacouture, “Cable-suspended robotic contour crafting system,” Automation in Construction, vol. 17, no. 1, pp. 45–55, November 2007.

    Article  Google Scholar 

  15. B. Zi, N. Wang, S. Qian, and K. Bao, “Design, stiffness analysis and experimental study of a cable-driven parallel 3D printer,” Mechanism and Machine Theory, vol. 132, pp. 207–222, February 2019.

    Article  Google Scholar 

  16. S. Torres-Mendez and A. Khajepour, “Analysis of a high stiffness warehousing cable-based robot,” Proc. of Volume 5A: 38th Mechanisms and Robotics Conference, p. V05AT08A088, 2014.

    Chapter  Google Scholar 

  17. S. D. Laycock and A. M. Day, “Recent developments and applications of haptic devices,” Computer Graphics Forum, vol. 22, no. 2, pp. 117–132, Junuary 2003.

    Article  Google Scholar 

  18. H. J. Asl and J. Yoon, “Stable assist-as-needed controller design for a planar cable-driven robotic system,” International Journal of Control, Automation and Systems, vol. 15, no. 6, pp. 2871–2882, December 2017.

    Article  Google Scholar 

  19. X. Cui, W. Chen, X. Jin, and S. K. Agrawal, “Design of a 7-DOF cable-driven arm exoskeleton (CAREX-7) and a controller for dexterous motion training or assistance,” IEEE/ASME Trans. on Mechatronics, vol. 22, no. 1, pp. 161–172, February 2017.

    Article  Google Scholar 

  20. G. Castelli, E. Ottaviano, and P. Rea, “A Cartesian cablesuspended robot for improving end-users’ mobility in an urban environment,” Robotics and Computer-integrated Manufacturing, vol. 30, no. 3, pp. 335–343, June 2014.

    Article  Google Scholar 

  21. M. Plooij, U. Keller, B. Sterke, S. Komi, H. Vallery, and J. von Zitzewitz, “Design of RYSEN: an intrinsically safe and low-power three-dimensional overground body weight support,” IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2253–2260, July 2018.

    Article  Google Scholar 

  22. M. Sato, Y. Hirata, and H. Kawarada, “Space interface device for artificial reality-SPIDAR,” Systems and Computers in Japan, vol. 23, no. 12, pp. 44–54, 1992.

    Article  Google Scholar 

  23. M. J.-D. Otis, M. Mokhtari, C. du Tremblay, D. Laurendeau, F.-M. de Rainville, and C. M. Gosselin, “Hybrid control with multi-contact interactions for 6DOF haptic foot platform on a cable-driven locomotion interface,” Proc. of Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 161–168, 2008.

    Chapter  Google Scholar 

  24. R. Xiao, J. Huang, and P. Wu, “Large space force feedback system based on string,” Proc. of 2011 International Conference on Computer Science and Network Technology, pp. 2705–2708, 2011.

    Chapter  Google Scholar 

  25. Y. Hirata, R. Shirai, and K. Kosuge, “Position and orientation control of passive wire-driven motion support system using servo brakes,” Proc. of IEEE International Conference on Robotics and Automation (ICRA), pp. 3702–3707, 2017.

    Google Scholar 

  26. J. Saint-Aubert, S. Regnier, and S. Haliyo, “Cable driven haptic interface for co-localized desktop VR,” Proc. of IEEE Haptics Symposium (HAPTICS), pp. 351–356, 2018.

    Google Scholar 

  27. H. Lee, H. Choi, and S. Park, “Accurate modeling and nonlinearity compensation in the speed mode of a twisted string actuator,” Mechanism and Machine Theory, vol. 137, pp. 53–66, July 2019.

    Article  Google Scholar 

  28. U. Scarcia, L. Moriello, A. Pepe, G. Palli, and C. Melchiorri, “Design of a twisted-string actuator for haptic force rendering,” IFAC-PapersOnLine, vol. 51, no. 22, pp. 479–485, 2018.

    Article  Google Scholar 

  29. R. Lindemann and D. Tesar, “Construction and demonstration of a 9-string 6 DOF force reflecting joystick for teler-obotics,” Proc. of NASA Conference on Space Telerobotics, pp. 55–63, 1989.

    Google Scholar 

  30. P. M. Kebria, H. Abdi, M. M. Dalvand, A. Khosravi, and S. Nahavandi, “Control methods for internet-based teleoperation systems: a review,” IEEE Trans. on Human-Machine Systems, vol. 49, no. 1, pp. 32–46, February 2019.

    Article  Google Scholar 

  31. E. Slawiñski, J. F. Postigo, and V. Mut, “Bilateral teleoperation through the Internet,” Robotics and Autonomous Systems, vol. 55, no. 3, pp. 205–215, March 2007.

    Article  Google Scholar 

  32. S. Ganjefar, M. Afshar, M. H. Sarajchi, and Z. Shao, “Controller design based on wavelet neural adaptive proportional plus conventional integral-derivative for bilateral teleoperation systems with time-varying parameters,” International Journal of Control, Automation and Systems, vol. 16, no. 5, pp. 2405–2420, October 2018.

    Article  Google Scholar 

  33. G. Niemeyer, C. Preusche, S. Stramigioli, and D. Lee, “Telerobotics,” B. Siciliano and O. Khatib, Eds., Springer Handbook of Robotics, 2nd ed., Springer Handbooks, Springer, Cham, pp. 1085–1108, 2016.

    Chapter  Google Scholar 

  34. A. Elahi and A. Alfi, “Stochastic H8 finite-time control of networked cascade control systems under limited channels, network delays,” ISA Transsactions, July 2019. DOI: 10.1016/j.isatra.2019.07.020

    Google Scholar 

  35. A. Elahi and A. Alfi, “Finite-time H8 stability analysis of uncertain network-based control systems under random packet dropout and varying network delay,” Nonlinear Dynamics, vol. 91, no. 1, pp. 713–731, January 2018.

    Article  MathSciNet  MATH  Google Scholar 

  36. B. Baigzadehnoe, B. Rezaie, and Z. Rahmani, “Fuzzymodel-based fault detection for nonlinear networked control systems with periodic access constraints and Bernoulli packet dropouts,” Applied Soft Computing, vol. 80, pp. 465–474, July 2019.

    Article  Google Scholar 

  37. H. Yang, H. Li, Y. Xia, and L. Li, “Hierarchical fusion estimation for multi-sensor networked systems with transmission delays and packet dropouts,” Signal Processing, vol. 156, pp. 156–165, March 2019.

    Article  Google Scholar 

  38. J. Jung, E.-S Kim, X. Jin, J. Piao, E. Choi, J.-O Park, and C.-S Kim, “A cable-driven parallel robot remotely controlled by a human-driven parallel cable robot,” Proc. of 50th International Symposium on Robotics, pp. 263–268, 2018.

    Google Scholar 

  39. “Dyneema® The world’s strongest fiber.” https://www.dsm.com/products/dyneema/en_GB/home.html.

  40. X. Jin, J. Jung, S. Ko, E. Choi, J.-O. Park, and C.-S. Kim, “Geometric parameter calibration for a cable-driven parallel robot based on a single one-dimensional laser distance sensor measurement and experimental modeling,” Sensors, vol. 18, no. 7, p. 2392, Jul. 2018.

    Article  Google Scholar 

  41. J. Jung, J. Piao, S. Park, J.-O. Park, and S. Y. Ko, “Analysis of cable tension of high speed parallel cable robot: High speed position tracking of winch,” Proc. of 16th International Conference on Control, Automation and Systems (ICCAS), pp. 1053–1056, 2016.

    Google Scholar 

  42. “BECKHOFF New Automation Technology,” url-https://beckhoff.com/.

  43. T. Bruckmann, L. Mikelsons, T. Brandt, M. Hiller, and D. Schramm, “Wire Robots Part I: Kinematics, Analysis & Design,” J.-H. Ryu, Ed., Parallel Manipulators, New Developments, I-Tech Education and Publishing, pp. 109–132, 2008.

    Google Scholar 

  44. H. Jamshidifar, S. Khosravani, B. Fidan, and A. Khajepour, “Vibration decoupled modeling and robust control of redundant cable-driven parallel robots,” IEEE/ASME Trans. on Mechatronics, vol. 23, no. 2, pp. 690–701, April 2018.

    Article  Google Scholar 

  45. J. J. Craig, Introduction to Robotics: Mechanics and Control, 3rd ed. Pearson Education International, 2005.

    Google Scholar 

  46. W. Kraus, M. Kessler, and A. Pott, “Pulley friction compensation for winch-integrated cable force measurement and verification on a cable-driven parallel robot,” Proc. of IEEE International Conference on Robotics and Automation (ICRA), pp. 1627–1632, 2015.

    Google Scholar 

  47. J. Piao, E.-S. Kim, H. Choi, C.-B. Moon, E. Choi, J.-O. Park, and C.-S. Kim, “Indirect force control of a cable-driven parallel robot: tension estimation using artificial neural network trained by force sensor measurements,” Sensors, vol. 19, no. 11, p. 2520, June 2019.

    Article  Google Scholar 

  48. Y. Li, Y. Yin, and D. Zhang, “IMC-based design for teleoperation systems with time delays,” International Journal of Control, Automation and Systems, vol. 16, no. 2, pp. 887–895, April 2018.

    Article  Google Scholar 

  49. O. Peñaloza-Mejía, L. A. Márquez-Martínez, J. Alvarez-Gallegos, and J. Alvarez, “Master-slave teleoperation of underactuated mechanical systems with communication delays,” International Journal of Control, Automation and Systems, vol. 15, no. 2, pp. 827–836, April 2017.

    Article  Google Scholar 

  50. W. S. Kim, “Developments of new force reflecting control schemes and an application to a teleoperation training simulator,” Proc. of IEEE International Conference on Robotics and Automation, pp. 1412–1419, 1992.

    Google Scholar 

  51. S. Kawamura, H. Kino, and C. Won, “High-speed manipulation by using parallel wire-driven robots,” Robotica, vol. 18, no. 1, pp. 13–21, January 2000.

    Article  Google Scholar 

  52. P. Miermeister, M. Lächele, R. Boss, C. Masone, C. Schenk, J. Tesch, M. Kerger, H. Teufel, A. Pott, and H. H. Bülthoff, “The CableRobot simulator: large scale motion platform based on cable robot technology,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3024–3029, 2016.

    Google Scholar 

  53. J. Bolboli, M. A. Khosravi, and F. Abdollahi, “Stiffness feasible workspace of cable-driven parallel robots with application to optimal design of a planar cable robot,” Robotics and Autonomous Systems, vol. 114, pp. 19–28, April 2019.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Chonnam National University, Gwangju, 61186, Korea

    Hongseok Choi, Jinlong Piao, Eunpyo Choi, Jong-Oh Park & Chang-Sei Kim

  2. Korea Institute of Medical Microrobotics (KIMIRo), Medical Microrobot Center (MRC), and Robot Research Initiative (RRI), Chonnam National University, Gwangju, 61186, Korea

    Eui-Sun Kim

  3. Korea Institute of Medical Microrobotics, Gwangju, 61011, Korea

    Jinwoo Jung

  4. School of Electronics and Electrical Engineering, Daegu Catholic University, Gyeongsan-si, Gyeongbuk, 38430, Korea

    Jong-Oh Park

Authors
  1. Hongseok Choi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jinlong Piao
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Eui-Sun Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Jinwoo Jung
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Eunpyo Choi
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Jong-Oh Park
    View author publications

    You can also search for this author in PubMed Google Scholar

  7. Chang-Sei Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Jong-Oh Park or Chang-Sei Kim.

Additional information

Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Quoc Chi Nguyen under the direction of Editor Myo Taeg Lim. This work was supported by a grant of the Korea Health Technology R&D Project through the Korea Health Industry Development Institute (KHIDI), funded by the Ministry of Health & Welfare, Republic of Korea (grant number: HI19C0642).

Hongseok Choi received his B.S. and M.S. degrees in electronic communication engineering from the Korea Maritime University, Korea, in 2005 and 2007, respectively. Since 2013, he has been pursuing a Ph.D. in mechanical engineering at Chonnam National University, Korea. His research interests include service robotics especially control of robotic manipulators with multiple degrees of freedom.

Jinlong Piao received his B.S. degree in mechanical engineering from Yanbian University, China in 2013. He is now a student of the integrated M.S. and Ph.D. program in Chonnam National University, Korea. His research interests are in dynamics and control applications for cable-driven parallel robots in industrial applications.

Eui-Sun Kim received his B.S., M.S., and Ph.D. degrees in electrical engineering from Chonnam National University, Korea, in 1981, 1987, and 1999, respectively. He was an assistant professor in the department of electrical engineering at Seonam University from 1993 to 2005, and he was an associate professor in the department of Internet and Communications at Shingyeong University from 2006 to 2017, Korea. He is now a researcher in the Medical microRobot Center (MRC). His research interests are cable-driven parallel robots and service robots.

Jinwoo Jung received his B.S. degree in Mechanical Design and Production Engineering in 2001 and his M.S. degree in Mechanical Engineering from Yonsei University in 2006 respectively, and a Ph.D. degree in Mechanical Engineering from the University of Wisconsin-Madison in 2014. From 2015 to 2018, he worked as a researcher with Robot Research Initiative at Chonnam National University. From September 2018, he is an assistant professor in the School of Electronic and Electrical Engineering at Daegu Catholic University. His current research interests include development, control, and modeling of cable-driven parallel robots.

Eunpyo Choi received his B.S., M.S., and Ph.D. degrees from the department of mechanical engineering at Sogang University, Korea, in 2008, 2010, and 2015, resepctively. He was a senior postdoctoral fellows in the Dept. of Bioengineering at University of Washington, USA. He is now an assistant professor in the School of Mechanical Engineering at Chonnam National University, Korea. His research interests are BioMEMS and micro/nanorobots for medical approaches.

Jong-Oh Park received his B.S. and M.S. degrees from the department of mechanical engineering, Korea, and a Ph.D. in robotics from Stuttgart University, Germany, in 1978, 1981, and 1987, respectively. Between 1982 and 1987, he worked as a guest researcher at the Fraunhofer-Institut für Produktionstechnik und Automatisierung (FhG IPA), Germany. He worked as a principal researcher in the Korea Institute of Science and Technology (KIST) from 1987 to 2005, and he was a director of the Microsystem Research Center at KIST from 1999 to 2005. In 2005, he moved to Chonnam National University where he is now a full professor in the School of Mechanical Engineering and a director of the Robot Research Initiative (RRI). His research interests are biomedical microrobots, medical robots, and service robots.

Chang-Sei Kim received his B.S., M.S., and Ph.D. degrees from the Dept. of Control and Mechanical Engineering at Pusan National University, the Dept. of Mechanical Design and Production Engineering at Seoul National University, and the School of Mechanical Engineering at Pusan National University, in 1998, 2000, and 2011, respectively. He was a Research Associate in the Dept. of Mechanical Engineering at University of Maryland College Park, USA He is now an Assistant Professor in the School of Mechanical Engineering at Chonnam National University, Korea. His research interests are dynamics and control applications for mechanical and biomedical systems in the real world.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Choi, H., Piao, J., Kim, ES. et al. Intuitive Bilateral Teleoperation of a Cable-driven Parallel Robot Controlled by a Cable-driven Parallel Robot. Int. J. Control Autom. Syst. 18, 1792–1805 (2020). https://doi.org/10.1007/s12555-019-0549-8

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12555-019-0549-8

Keywords

Search

Navigation