Abstract
This paper introduces a real-time capable tension distribution algorithm for n degree-of-freedom cable-driven parallel robots (CDPR) actuated by \(n+2\) cables. It is based on geometric considerations applied to the two-dimensional convex polytope of feasible cable tension distribution. This polytope is defined as the intersection between the set of inequality constraints on the cable tension values and the affine space of tension solutions to the mobile platform static or dynamic equilibrium. The algorithm proposed in this paper is dedicated to \(n\) degree-of-freedom CDPR actuated by \(n+2\) cables. Indeed, it takes advantage of the two-dimensional nature of the corresponding feasible tension distribution convex polytope to improve the computational efficiency of a tension distribution strategy proposed elsewhere. The fast computation of the polytope vertices and of its barycenter made us successfully validate the real-time compatibility of the presented algorithm.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Albus, J., Bostelman, R., Dagalakis, N.: The NIST robocrane. J. Robot. Syst. 10(2), 709–724 (1993)
Borgstrom, P.H., Jordan, B.L., Sukhatme, G.S., Batalin, M.A., Kaiser, W.J.: Rapid computation of optimally safe tension distributions for parallel cable-driven robots. IEEE Trans. Robot. 25(6), 1271–1281 (2009)
Bruckmann, T., Andreas, P., Hiller, M., Franitza, D.: A modular controller for redundantly actuated tendon-based stewart platforms. EuCoMeS, Obergurgl, Austria, In (2006)
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, 561–568 (2004)
Hassan, M., Khajepour, A.: Analysis of bounded cable tensions in cable-actuated parallel manipulators. IEEE Trans. Robot. 27(5), 891–900 (2011)
Kawamura, S., Kino, H., Won, C.: High-speed manipulation by using parallel wire-driven robots. Robotica 18, 13–21 (2000)
Mikelsons, L., Bruckmann, T., Hiller, M., Schramm, D.: A real-time capable force calculation algorithm for redundant tendon-based parallel manipulators. IEEE International Conference on Robotics and Automation, May, In (2008)
Oh, S.-R., Agrawal, S.K.: Controllers with positive cable tensions. IEEE International Conference on Robotics and Automation, Cable-Suspended Planar Parallel Robots with Redundant Cables, In (2003)
Roberts, R.G., Graham, T., Lippitt, T.: On the inverse kinematics, statics, and fault tolerance of cable-suspended robots. J. Robot. Syst. 15(10), 581–597 (1998)
Vafaei, A., Aref, M.M., Taghirad, H.D.: Integrated controller for an over constrained cable driven parallel manipulator: KNTU CDRPM. In IEEE 2010 International Conference on Robotics and Automation, pp. 650–655. Anchorage, Alaska, USA (2010).
Yu, K., Lee, L., Krovi, V.N.: Simultaneous trajectory tracking and stiffness control of cable actuated parallel manipulator. International Design Engineering Technical Conference and Computers and Information in Engineering Conference, In (2009)
Ziegler, G.: Letures on Polytopes. Springer, Heidelberg (1994)
Acknowledgments
The financial support of the ANR (grant 2009 SEGI 018 01), of the Région Languedoc-Roussillon (grants 115217 and 120218) and the financial contribution of Tecnalia are greatly acknowledged.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Lamaury, J., Gouttefarde, M. (2013). A Tension Distribution Method with Improved Computational Efficiency. In: Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 12. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31988-4_5
Download citation
DOI: https://doi.org/10.1007/978-3-642-31988-4_5
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-31987-7
Online ISBN: 978-3-642-31988-4
eBook Packages: EngineeringEngineering (R0)