A new control scheme of cable-driven parallel robot balancing between sliding mode and linear feedback

Picard, Etienne; Tahoumi, Elias; Plestan, Franck; Caro, Stéphane; Claveau, Fabien

doi:10.1016/j.ifacol.2020.12.2708

Cited by 16 publications

(10 citation statements)

References 15 publications

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“…where σ , β, ε σ , and εσ are constant parameters presented in ref. [18]. The torque applied to the motor was the control signal which was the time integral of Eq.…”

Section: Smcmentioning

confidence: 99%

“…In the dynamic control, the desired position of the EE is applied as the reference trajectory and the desired angles of rotation of the motors are calculated by the IKP. For the dynamics approach, the sliding surface and the controller can be expressed as [18]: where , are the controller gains and is for the motor and can be derived as: where , , , and are constant parameters presented in ref. [18].…”

Section: The Suspended Cdprmentioning

confidence: 99%

“…For the dynamics approach, the sliding surface and the controller can be expressed as [18]: where , are the controller gains and is for the motor and can be derived as: where , , , and are constant parameters presented in ref. [18]. The torque applied to the motor was the control signal which was the time integral of Eq.…”

Section: The Suspended Cdprmentioning

confidence: 99%

“…In ref. [18], the SML, a simple PD controller, and PD controller with a feed-forward term compensating the EE mass were experimentally compared. In ref.…”

Section: Introductionmentioning

confidence: 99%

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Experimental study on the control of a suspended cable-driven parallel robot for object tracking purpose

et al. 2022

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In this paper, control of a suspended cable-driven parallel robot has been experimentally investigated based on the dynamic model of the robot for object tracking purpose. In order to improve the tracking ability of the robot, three control approaches, namely kinematic PID, dynamic PD, and a kinematic sliding mode control (SMC), have been implemented, both on the Simscape and on the robot constructed at the Human and Robot Interaction Laboratory. Neural network controller and dynamic SMC have been implemented on the Simscape model. Afterward, the effectiveness of each approach has been investigated by employing the root mean square error (RMSE) index. Simulation and experimental results reveal the ability of each controller for precise and smooth control. For precise and real-time object tracking, YOLOv5-s and YOLOv4-tiny model are trained. By comparing the obtained index values, the kinematic PID demonstrates the best performance with the maximum RMSE value of 0.018 compared to other methods.

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“…where σ , β, ε σ , and εσ are constant parameters presented in ref. [18]. The torque applied to the motor was the control signal which was the time integral of Eq.…”

Section: Smcmentioning

confidence: 99%

Section: The Suspended Cdprmentioning

confidence: 99%

Section: The Suspended Cdprmentioning

confidence: 99%

“…In ref. [18], the SML, a simple PD controller, and PD controller with a feed-forward term compensating the EE mass were experimentally compared. In ref.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Experimental study on the control of a suspended cable-driven parallel robot for object tracking purpose

et al. 2022

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“…This proposed user interface implements an adaptative sliding model control strategy that is based on the approach proposed in refs. [28, 29]. Finally, we report the outcomes of experimental validation tests along multiple continuous and sinusoidal trajectory tests.…”

Section: Introductionmentioning

confidence: 99%

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

Khadem,

Inel,

Carbone

et al. 2023

Robotica

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This paper presents a novel cable-driven parallel robot with the aim of rehabilitating/exercising young and disabled children in drawing and writing tasks. The pyramidal topology was identified as providing the required three active translational Degrees of Freedom with a redundant set of five cables in a compact portable shape. In addition, this robot was designed with new features, as it is inexpensive, easy to control, easy to move to any place at home or school as it is fitting a home desk or classroom table. In this paper, we present the main steps for designing the proposed cable-driven pyramidal parallel robot. Specific attention is addressed to the design of the structure and the end effector as well as to establishing proper simulation models. Several simulations are proposed by implementing both kinematic and dynamic models to demonstrate the feasibility of multiple writing/drawing tasks. A specific user interface is proposed allowing both continuous and intermittent trajectories. A sliding mode control is implemented to achieve suitable tracking accuracy on a desired path. Finally, an experimental validation is successfully carried out by considering multiple trajectories for demonstrating the engineering feasibility and effectiveness of the proposed design and simulation models.

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FEM-Based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging

Moussa

Coevoet

Duriez

et al. 2023

Mechanisms and Machine Science

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Cable-Driven Parallel Robots (CDPRs) are a type of robot that is growing in popularity for different kinds of applications. However, the use of cables instead of rigid links makes the modelling of this robot a complex task, and therefore their trajectory planning and control are challenging. Assumptions such as inelastic, massless and non-sagging cables made when the CDPR is small are no longer valid when the robot becomes large. This paper presents a CDPR dynamic model taking into account cable elasticity and sagging, and its implementation within an open-source framework, named SOFA. Finally, the simulation results are compared to experiments conducted on a suspended CDPR.

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A new control scheme of cable-driven parallel robot balancing between sliding mode and linear feedback

Cited by 16 publications

References 15 publications

Experimental study on the control of a suspended cable-driven parallel robot for object tracking purpose

Experimental study on the control of a suspended cable-driven parallel robot for object tracking purpose

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

FEM-Based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging

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