A Kinematic Vision-Based Position Control of a 6-DoF Cable-Driven Parallel Robot

Conference paper
First Online:
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 32)

Abstract

This paper introduced an original setup for the validation of vision-based position control methodologies dedicated to 6-DoF Cable-Driven Parallel Robots. The cable robot is an INCA 6D with eight cables initially developed by Haption as a haptic interface, equipped with a motion-capture system Bonita developed by Vicon to measure the end-effector pose. In addition to the description of this setup, this paper reports simulation and experiment results obtained with an original control scheme based on a cascaded control architecture in two parts. First is the position control to ensure an accurate end-effector positioning, which includes two nested closed-loops: an external vision-loop based on the pose measurement that drives the motors, equipped of inner speed-loop previously designed in order to control each speed in a decoupled fashion when rejecting the inherent non-linear behaviour of the cables. Second is the tension distribution to maintain the cables under feasible tensions, the paper makes an extensive review of the available methods and presents an algorithm inspired from one of them extended to the dynamic control.

Keywords

Task Space Cable Tension Tension Distribution Tension Vector Cable Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.ICube Laboratory of Engineering, Computer and Image SciencesUniversity of Strasbourg and CNRSIllkirchFrance

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