Abstract
This paper presents a new approach to the modeling and control of cable driven parallel manipulators and particularly KNTU CDRPM. First, dynamical model of the cable driven parallel manipulator is derived considering the elasticity of the cables, and then this model is rewritten in the standard form of singular perturbation theory. This theory used here as an effective tool for modeling the cable driven manipulators. Next, the integrated controller, applied for control of the rigid model of KNTU CDRPM in previous researches, is improved and a composite controller is designed for the elastic model of the robot. Asymptotic stability analysis of the proposed rigid controller is studied in detail. Finally, a simulation study performed on the KNTU CDRPM verifies the closed-loop performance compared to the rigid model controller.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Albus, J., Bostelman, R., Dagalakis, N.: The nist robocrane. J. of Robotic Systems 10, 709–724 (1993)
Kawamura, S., Kino, H., Won, C.: High-speed manipulation by using parallel wire-driven robots. Robotica, 13–21 (2000)
Merlet, J.-P., Daney, D.: A new design for wire driven parallel robot. In: 2nd Int. Congress, Design and Modeling of mechanical systems, Monastir (March 2007)
Pham, C., Yeo, S., Yang, G., Kurbanhusen, M., Chen, I.: Force-closure workspace analysis of cable-driven parallel mechanisms. Mechanism and Machine Theory 41, 53–69 (2006)
Vafaei, A., Aref, M.M., Taghirad, H.D.: Integrated controller for an over-constrained cable driven parallel manipulator: Kntu cdrpm. In: IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 650–655 (May 2010)
Khosravi, M.A., Taghirad, H.D.: Dynamics analysis and control of cable driven robots considering elasticity in cables. Presented at CCToMM 2011 Symposium (2011)
Gorman, J., Jablokow, K., Cannon, D.: The cable array robot: Theory and experiment. In: IEEE International Conference on Robotics and Automation (2001)
Alp, A.B., Agrawal, S.K.: Cable suspended robots: feedback controllers with positive inputs. In: American Control Conference, pp. 815–820 (2002)
Diao, X., Ma, O.: Vibration analysis of cable-driven parallel manipulators. Multibody Syst. Dyn. 21, 347–360 (2009)
O’Reilly, J., Kokotovic, P.V., Khalil, H.: Singular Perturbation Methods In Control: Analysis and Design. Academic Press (1986)
Khalil, H.K.: Nonlinear Systems, 3rd edn. Prentice-Hall (2002)
Aref, M.M., Gholami, P., Taghirad, H.D.: Dynamic analysis of the KNTU CDRPM: a cable driven redundant manipulator. In: IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications (MESA), pp. 528–533 (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Vafaei, A., Khosravi, M.A., Taghirad, H.D. (2011). Modeling and Control of Cable Driven Parallel Manipulators with Elastic Cables: Singular Perturbation Theory. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7101. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25486-4_46
Download citation
DOI: https://doi.org/10.1007/978-3-642-25486-4_46
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25485-7
Online ISBN: 978-3-642-25486-4
eBook Packages: Computer ScienceComputer Science (R0)