Characterization of a Cable-Based Parallel Mechanism for Measurement Purposes<sup>#</sup>

Hernández-Martínez, E.E.; Ceccarelli, Marco; Carbone, Giuseppe; López-Cajún, C. S.; Jáuregui-Correa, Juan Carlos

doi:10.1080/15397730903386101

Cited by 33 publications

(17 citation statements)

References 14 publications

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“…One of the key aspects for cable driven robots is the need of a proper control strategy to achieve proper motions without breaking the cables. The model predictive method has been designed to improve the robustness of robotic system control, [6][7][8]. In particular, a Predictive controller can adjust the control torque based on real-time position tracking error in the set-point control of the end-effector.…”

Section: Introductionmentioning

confidence: 99%

Mode Predictive Control for Spatial Cable Driven Parallel Robot Based on Variation the Mass of End-Effector

Inel

Medjebouri

Rybak

et al. 2020

Mechanisms and Machine Science

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In this paper, a spatial cable-driven parallel robot with four cables is simulated by using a technique of Model Predictive Control (MPC). The main contribution of this work is firstly: a graphical user interface has been developed and implemented so as to control the position and the end effector's speed, takes into account the variation of mass of the end-effector (0.01-0.1 kg) and massless cables. Secondly, we study the response of differential equations for our system with MPC control for different trajectories in order to test the accurate tracking of the robot for a desired trajectory simulation using MATLAB/Simulink. The effectiveness of the proposed control strategy is demonstrated to improve the robot performance.

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Section: Introductionmentioning

confidence: 99%

Mode Predictive Control for Spatial Cable Driven Parallel Robot Based on Variation the Mass of End-Effector

Inel

Medjebouri

Rybak

et al. 2020

Mechanisms and Machine Science

Self Cite

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“…Some works have been focused on this type of architecture and parallel cable mechanisms have been presented for pose measuring purposes. 6,13 This system, shown in Fig. It is named as CaTraSys (Catrasys Tracking System) and has been used to evaluate the serial robot workspace.…”

Section: Introductionmentioning

confidence: 99%

“…It is named as CaTraSys (Catrasys Tracking System) and has been used to evaluate the serial robot workspace. [5,13]. 8,17 Based on the design of CaTraSys, a measuring system has been developed at LARM for fine calibration.…”

Section: Introductionmentioning

confidence: 99%

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Design optimization of a cable-based parallel tracking system by using evolutionary algorithms

2014

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2015). Design optimization of a cablebased parallel tracking system by using evolutionary algorithms. Robotica, 33, pp 599-610 SUMMARYIn this paper, an optimization design of a 6 DOF parallel measuring system is analyzed. First, a closed form direct kinematics formulation based on Cayley-Menger determinants is considered in the objective function, in order to measure the manipulator singularities, then an estimation of distribution algorithm is proposed to solve the optimization problem. It is shown that the evolutionary algorithm can find close to optimal solutions for minimum pose error estimation. Additionally, these global optimizers significantly reduce the computational burden in comparison with exhaustive search and other global optimization techniques. The sensitivity of the pose error estimation in the prescribed robots' workspace is analyzed and used to guide a designer in choosing the best structural configuration. Numerical examples are discussed to show the feasibility of the proposed optimization methodology.

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“…It was selected for the case studied here, since this structure can be intended for highly precise applications. In the last two decades, many different aspects of this parallel manipulator have been studied and reported on [4] [5] [6] [7] [8].…”

Section: Introductionmentioning

confidence: 99%

Towards a Robust Solution of the Non-Linear Kinematics for the General Stewart Platform with Estimation of Distribution Algorithms

Valdez

Soto

2013

International Journal of Advanced Robotic Systems

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In robotics, solving the direct kinematics problem (DKP) for parallel robots is very often more difficult and time consuming than for their serial counterparts. The problem is stated as follows: given the joint variables, the Cartesian variables should be computed, namely the pose of the mobile platform. Most of the time, the DKP requires solving a non-linear system of equations. In addition, given that the system could be non-convex, Newton or Quasi-Newton (Dogleg) based solvers get trapped on local minima. The capacity of such kinds of solvers to find an adequate solution strongly depends on the starting point. A well-known problem is the selection of such a starting point, which requires a priori information about the neighbouring region of the solution. In order to circumvent this issue, this article proposes an efficient method to select and to generate the starting point based on probabilistic learning. Experiments and discussion are presented to show the method performance. The method successfully avoids getting trapped on local minima without the need for human intervention, which increases its robustness when compared with a single Dogleg approach. This proposal can be extended to other structures, to any non-linear system of equations, and of course, to non-linear optimization problems.

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Characterization of a Cable-Based Parallel Mechanism for Measurement Purposes^#

Cited by 33 publications

References 14 publications

Mode Predictive Control for Spatial Cable Driven Parallel Robot Based on Variation the Mass of End-Effector

Mode Predictive Control for Spatial Cable Driven Parallel Robot Based on Variation the Mass of End-Effector

Design optimization of a cable-based parallel tracking system by using evolutionary algorithms

Towards a Robust Solution of the Non-Linear Kinematics for the General Stewart Platform with Estimation of Distribution Algorithms

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Characterization of a Cable-Based Parallel Mechanism for Measurement Purposes#

Cited by 33 publications

References 14 publications

Mode Predictive Control for Spatial Cable Driven Parallel Robot Based on Variation the Mass of End-Effector

Mode Predictive Control for Spatial Cable Driven Parallel Robot Based on Variation the Mass of End-Effector

Design optimization of a cable-based parallel tracking system by using evolutionary algorithms

Towards a Robust Solution of the Non-Linear Kinematics for the General Stewart Platform with Estimation of Distribution Algorithms

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Characterization of a Cable-Based Parallel Mechanism for Measurement Purposes^#