An admittance control scheme for haptic interfaces based on cable-driven parallel mechanisms

Fortin-Côté, Alexis; Cardou, Philippe; Gosselin, Clément

doi:10.1109/icra.2014.6906949

Cited by 35 publications

(35 citation statements)

References 9 publications

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“…A second calibration, for comparison purposes, is performed again but excluding the camera data, i.e., using only cable measurements. The second method, described in [2,6], relies exclusively on the motor encoders of fully constrained CDPR architecture and as stated above, it can only be applied to robots with more cables than degrees of freedom. Without an external reference, the mechanism geometry is unconstrained.…”

Section: Trials and Resultsmentioning

confidence: 99%

“…In order to move the end effector to the computed calibration poses before the robot is fully calibrated, a control scheme capable of dealing with errors in the initial estimate of the geometric parameters is necessary. Thus, control is achieved by a simple low-level velocity controller, inspired by [2], driven by a Cartesian position controller. The block diagram of the control algorithm is presented in Fig.…”

Section: Controlmentioning

confidence: 99%

“…Methods were proposed specifically for calibrating fully-constrained CDPRs, without the need for external sensors [1,2,6]. The use of force sensors, allowing for simultaneous stiffness identification, is also addressed in [10].…”

Section: Introductionmentioning

confidence: 99%

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Eye-on-Hand Calibration Method for Cable-Driven Parallel Robots

Tremblay

Kamali

Cardou

et al. 2019

Mechanisms and Machine Science

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Estimating the geometric parameters of a cable-driven parallel robot (CDPR) can be a labour intensive process or one that requires expensive sensors. This paper presents a low-cost method for estimating initial cable lengths and fixed cable attachment points of CDPRs. The proposed approach relies on the detection, mapping and localisation of fiduciary markers in the robot environment using a camera attached to the end effector. This paper additionally tackles the generation of a list of reachable calibration poses and presents a control scheme allowing the CDPR to reach those. Experiments are also carried out to assess the performance of the proposed calibration method. It appears that the proposed eye-on-hand method is more accurate than a previously reported method relying solely on cable-length measurements.

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Section: Trials and Resultsmentioning

confidence: 99%

Section: Controlmentioning

confidence: 99%

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Eye-on-Hand Calibration Method for Cable-Driven Parallel Robots

Tremblay

Kamali

Cardou

et al. 2019

Mechanisms and Machine Science

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“…heavy payload handling and airplane painting [1], cargo handling [15], warehouse applications [14], large-scale assembly and handling operations [28,33], and fast pick-and-place operations [18,21,29]. Other possible applications include the broadcasting of sporting events, haptic devices [8,10,31], support structures for giant telescopes [35,34], and search and rescue deployable platforms [23,24]. Recent studies have been performed within the framework of an ANR Project CoGiRo [2] where an efficient cable layout has been proposed [11] and used on a large CDPR prototype called CoGiRo.…”

Section: Introductionmentioning

confidence: 99%

Design of Reconfigurable Cable-Driven Parallel Robots

Gagliardini

Gouttefarde

Caro

2018

Intelligent Systems, Control and Automation: Science and Engineering

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This chapter is dedicated to the design of Reconfigurable Cable-Driven Parallel Robots (RCDPRs) where the locations of the cable exit points on the base frame can be selected from a finite set of possible values. A task-based design strategy for discrete RCDPRs is formulated. By taking into account the working environment, the designer divides the prescribed workspace or trajectory into parts. Each part shall be covered by one configuration of the RCDPR. Placing the cable exit points on a grid of possible locations, numerous CDPR configurations can be generated. All the possible configurations are analysed with respect to a set of constraints in order to determine the parts of the prescribed workspace or trajectory that can be covered. The considered constraints account for cable interferences, cable collisions, and wrench feasibility. The configurations satisfying the constraints are then compared in order to find the combinations of configurations that accomplish the required task while optimising one or several objective function(s). A case study comprising the design of a RCDPR for sandblasting and painting of a three-dimensional tubular structure is finally presented. Cable exit points are reconfigured, switching from one side of the tubular structure to another, until three external sides of the structure are covered. The optimisation includes the minimisation of the number of cable attachment/detachment operations required to switch from one configuration to another one, minimisation of the size of the RCDPR, and the maximisation of the RCDPR stiffness.

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“…Cable driven parallel mechanisms research has seen a growing interest in the last two decades. Their implementation as an alternative to rigid-link parallel mechanisms such as the Gough-Stewart platform for applications needing larger workspace has grown with developments in area such as haptics [1], motion simulator, material handling, 3D printing and maintenance [2]. As opposed to conventional rigid links mechanisms, CDPMs are known to admit larger workspace with a relatively low inertia.…”

Section: Introductionmentioning

confidence: 99%

Improving cable driven parallel robot accuracy through angular position sensors

Fortin-Côté

Cardou

Campeau-Lecours

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Conventionally, a cable driven parallel mechanism (CDPM) pose is obtained through the forward kinematics from measurements of the cable lengths. However, this estimation method can be limiting for some applications requiring more precision. This paper proposes to use cable angle position sensors in addition to cable length measurements in order to improve the accuracy of such mechanisms. The robot pose is first obtained individually by the cable length measurements and the cable angle position measurements. A data fusion scheme combining these two types of measurements is then proposed in order to improve the CPDM accuracy. Finally, simulations and experiments are presented in order to assess the benefits of using cable angle position sensors on the CDPM.

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An admittance control scheme for haptic interfaces based on cable-driven parallel mechanisms

Cited by 35 publications

References 9 publications

Eye-on-Hand Calibration Method for Cable-Driven Parallel Robots

Eye-on-Hand Calibration Method for Cable-Driven Parallel Robots

Design of Reconfigurable Cable-Driven Parallel Robots

Improving cable driven parallel robot accuracy through angular position sensors

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