Advertisement

Elasto-dynamic Model-Based Control of Non-redundant Cable-Driven Parallel Robots

  • Sana BakloutiEmail author
  • Stéphane Caro
  • Eric Courteille
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 584)

Abstract

This paper deals with a model-based feed-forward torque control strategy of non-redundant cable-driven parallel robots (CDPRs). The proposed feed-forward controller is derived from an inverse elasto-dynamic model of the CDPR to compensate for the dynamic and oscillatory effects due to cable elasticity. A PID feedback controller ensures stability and disturbance rejection. Simulations confirm that tracking errors can be reduced by the proposed strategy compared to conventional rigid body model-based control.

References

  1. 1.
    Dallej, T., Gouttefarde, M., Andreff, N., Michelin, M., Martinet, P.: Towards vision-based control of cable-driven parallel robots. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2855–2860. IEEE, September 2011Google Scholar
  2. 2.
    Hernandez, E., Valdez, S.I., Carbone, G., Ceccarelli, M.: Design optimization of a cable-driven parallel robot in upper arm training-rehabilitation processes. In: International Symposium on Multibody Systems and Mechatronics, pp. 413–423. Springer, Cham, October 2017Google Scholar
  3. 3.
    Gagliardini, L., Caro, S., Gouttefarde, M., Girin, A.: Discrete reconfiguration planning for cable-driven parallel robots. Mech. Mach. Theory 100, 313–337 (2016)CrossRefGoogle Scholar
  4. 4.
    Lamaury, J., Gouttefarde, M., Chemori, A., Herv, P.E.: Dual-space adaptive control of redundantly actuated cable-driven parallel robots. In: 2013 IEEE/RSJ Intelligent Conference on Robots and Systems (IROS), pp. 4879–4886. IEEE, November 2013Google Scholar
  5. 5.
    Jamshidifar, H., Fidan, B., Gungor, G., Khajepour, A.: Adaptive vibration control of a flexible cable driven parallel robot. IFAC-PapersOnLine 48(3), 1302–1307 (2015)CrossRefGoogle Scholar
  6. 6.
    Zi, B., Duan, B.Y., Du, J.L., Bao, H.: Dynamic modeling and active control of a cable-suspended parallel robot. Mechatronics 18(1), 1–12 (2008)CrossRefGoogle Scholar
  7. 7.
    Pott, A., Mütherich, H., Kraus, W., Schmidt, V., Miermeister, P., Verl, A.: IPAnema: a family of cable-driven parallel robots for industrial applications. In: Cable-Driven Parallel Robots, pp. 119–134. Springer, Heidelberg (2013)Google Scholar
  8. 8.
    Cuevas, J.I.A., Laroche, E., Piccin, O.: Assumed-mode-based dynamic model for cable robots with non-straight cables. In: Cable-Driven Parallel Robots, pp. 15–25. Springer, Cham (2018)Google Scholar
  9. 9.
    Merlet, J.P.: Simulation of discrete-time controlled cable-driven parallel robots on a trajectory. IEEE Trans. Robot. 33, 675–688 (2017)CrossRefGoogle Scholar
  10. 10.
    Laroche, E., Chellal, R., Cuvillon, L., Gangloff, J.: A preliminary study for H\(_\infty \) control of parallel cable-driven manipulators. In: Cable-Driven Parallel Robots, pp. 353–369. Springer, Heidelberg (2013)Google Scholar
  11. 11.
    Khosravi, M.A., Taghirad, H.D.: Dynamic modeling and control of parallel robots with elastic cables: singular perturbation approach. IEEE Trans. Robot. 30(3), 694–704 (2014)CrossRefGoogle Scholar
  12. 12.
    Khosravi, M.A., Taghirad, H.D.: Stability analysis and robust PID control of cable driven robots considering elasticity in cables. AUT J. Electr. Eng. 48(2), 113–126 (2016)Google Scholar
  13. 13.
    Khosravi, M.A., Taghirad, H.D.: Dynamic analysis and control of cable driven robots with elastic cables. Trans. Can. Soc. Mech. Eng. 35(4), 543–558 (2011)CrossRefGoogle Scholar
  14. 14.
    Bruckmann, T., Lalo, W., Sturm, C., Schramm, D., Hiller, M.: Design and realization of a high rack and retrieval machine based on wire robot technology (2013)Google Scholar
  15. 15.
    Lamaury, J., Gouttefarde, M.: Control of a large redundantly actuated cable-suspended parallel robot. In: 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 4659–4664, May 2013Google Scholar
  16. 16.
    Bayani, H., Sadeghian, R., Masouleh, M. T., Kalhor, A.: On the control of planar cable-driven parallel robot via classic controllers and tuning with intelligent algorithms. In: 2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM), pp. 623–628, October 2015Google Scholar

Copyright information

© CISM International Centre for Mechanical Sciences 2019

Authors and Affiliations

  • Sana Baklouti
    • 1
    Email author
  • Stéphane Caro
    • 2
  • Eric Courteille
    • 1
  1. 1.Univ Rennes, INSA Rennes, LGCGM-EA 3913RennesFrance
  2. 2.CNRS, Laboratoire des Sciences du Numérique de Nantes, UMR CNRS 6004NantesFrance

Personalised recommendations