Analysis of a Real-Time Capable Cable Force Computation Method

Müller, Katharina; Reichert, Christopher; Brückmann, Tobias

doi:10.1007/978-3-319-09489-2_16

Cited by 22 publications

(13 citation statements)

References 6 publications

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“…For computation, several methods exist that are commonly known. They differ, e.g., in the required maximum or average computation time or in the resulting force level [1,22].…”

Section: Forces and Dynamicsmentioning

confidence: 99%

Simulation and Model-Based Verification of an Emergency Strategy for Cable Failure in Cable Robots

Boumann

Brückmann

2022

Actuators

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Cable failure is an extremely critical situation in the operation of cable-driven parallel robots (CDPR), as the robot might be instantly outside of its predefined workspace. Therefore, the calculation of a cable force distribution might fail and, thus, the controller might not be able to master the guidance of the system anymore. However, as long as there is a remaining set of cables, the dynamic behavior of the system can be influenced to prevent further damage, such as collisions with the ground. The paper presents a feasible algorithm, introduces the models for dynamical multi-body simulation and verifies the algorithm within control loop closure.

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“…For computation, several methods exist that are commonly known. They differ, e.g., in the required maximum or average computation time or in the resulting force level [1,22].…”

Section: Forces and Dynamicsmentioning

confidence: 99%

Simulation and Model-Based Verification of an Emergency Strategy for Cable Failure in Cable Robots

Boumann

Brückmann

2022

Actuators

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“…As described in Section 3.2, a force calculation method is needed to check for a feasible solution of Equation (4). In the following, the puncture method [20] was used for this purpose. If this method found a feasible solution, the according cable forces were set in the next simulation step.…”

Section: Evaluation For Redundancy R =mentioning

confidence: 99%

Real-Time Cable Force Calculation beyond the Wrench-Feasible Workspace

Boumann

Brückmann

2020

Robotics

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Under special circumstances, a cable-driven parallel robot (CDPR) may leave its wrench-feasible-workspace. Standard approaches for the computation of set-point cable forces are likely to fail in this case. The novel nearest corner method for calculating appropriate cable forces when the CDPR is outside of its wrench-feasible-workspace was introduced in former work of the authors. The obtained cable force distributions aim at continuity and generate wrenches close to the desired values. The method employs geometrical operations in the cable force space and promises real-time usability because of its non-iterative structure. In a simplified simulation, a cable break scenario was used to carry out more detailed testing of the method regarding different parameters, a higher number of cables, and the numerical efficiency. A brief discussion about the continuity of the method when entering the wrench-feasible-workspace is presented.

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“…This issue is solved in [34], [35] where the 2-norm and barycenter tension distributions are calculated with a relatively high but bounded worst-case complexity. Besides, the methods in [36]- [39] make simple, fast and predictable computations suitable for degrees of redundancy larger than two or three. However, these methods are not proved to work in the whole WFW [38] and they may not be effective for suspended CDPRs.…”

Section: Introductionmentioning

confidence: 99%

“…However, these methods are not proved to work in the whole WFW [38] and they may not be effective for suspended CDPRs. To enlarge the part of the WFW in which they work, some cable tensions are set at their maximum or minimum admissible values, which may be contrary to the desired behavior and degrade the smoothness of the tension time evolutions (see the example in [39]). Furthermore, a general issue is the exact nature of the computed solution which cannot be chosen, e.g., no optimality criterion can be assigned to it.…”

Section: Introductionmentioning

confidence: 99%

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A Versatile Tension Distribution Algorithm for <inline-formula> <tex-math>$n$</tex-math> </inline-formula> -DOF Parallel Robots Driven by <inline-formula> <tex-math>$n+2$</tex-math> </inline-formula> Cables

et al. 2015

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Redundancy resolution of redundantly actuated cable-driven parallel robots (CDPRs) requires the computation of feasible and continuous cable tension distributions along a trajectory. This paper focuses on n-DOF CDPRs driven by n+2 cables since, for n = 6, these redundantly actuated CDPRs are relevant in many applications. The set of feasible cable tensions of n-DOF n+2-cable CDPRs is a two-dimensional convex polygon. An algorithm that determines the vertices of this polygon in a clockwise or counterclockwise order is first introduced. This algorithm is efficient and can deal with infeasibility. It is then pointed out that straightforward modifications of this algorithm allow the determination of various (optimal) cable tension distributions. A self-contained and versatile tension distribution algorithm is thereby obtained. Moreover, the worst-case maximum number of iterations of this algorithm is established. Based on this result, its computational cost is analyzed in detail, showing that the algorithm is efficient and real-time compatible even in the worst case. Finally, experiments on two 6-DOF 8-cable CDPR prototypes are reported.

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Analysis of a Real-Time Capable Cable Force Computation Method

Cited by 22 publications

References 6 publications

Simulation and Model-Based Verification of an Emergency Strategy for Cable Failure in Cable Robots

Simulation and Model-Based Verification of an Emergency Strategy for Cable Failure in Cable Robots

Real-Time Cable Force Calculation beyond the Wrench-Feasible Workspace

A Versatile Tension Distribution Algorithm for <inline-formula> <tex-math>$n$</tex-math> </inline-formula> -DOF Parallel Robots Driven by <inline-formula> <tex-math>$n+2$</tex-math> </inline-formula> Cables

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