Computed torque control of a cable suspended parallel robot

Aflakiyan, Ali; Bayani, Hassan; Masouleh, Mehdi Tale

doi:10.1109/icrom.2015.7367876

Cited by 8 publications

(3 citation statements)

References 10 publications

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“…Moreover, it is well-known that in practice, the control system design for CBPRs with model uncertainties and external disturbances, to the extent of the authors' knowledge, is also a challenging task, and it has attracted more attention recently [31][32][33][34]. In order to reduce and eliminate the effect of nonlinear uncertainties and external disturbances on the controller of the robots, a few of approaches for CBPRs are presented, such as nonlinear adaptive control, sliding mode control, robust model predictive control, time-delay control, computed torque control, fuzzy logic control, and so on [35][36][37][38][39]. Izadbakhsh et al [40] proposed a robust adaptive controller for cabledriven parallel robots subject to dynamic uncertainties, while the stability of the control system was analyzed with a Lyapunov-based method.…”

Section: Pick-and-place Trajectory Tracking Controlmentioning

confidence: 99%

Pick–and–Place Trajectory Planning and Robust Adaptive Fuzzy Tracking Control for Cable–Based Gangue–Sorting Robots with Model Uncertainties and External Disturbances

et al. 2022

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A suspended cable−based parallel robot (CBPR) composed of four cables and an end−grab is employed in a pick−and−place operation of moving target gangues (MTGs) with different shapes, sizes, and masses. This paper focuses on two special problems of pick−and−place trajectory planning and trajectory tracking control of the cable−based gangue−sorting robot in the operation space. First, the kinematic and dynamic models for the cable−based gangue−sorting robots are presented in the presence of model uncertainties and unknown external disturbances. Second, to improve the sorting accuracy and efficiency of sorting system with cable−based gangue−sorting robot, a four-phase pick−and−place trajectory planning scheme based on S-shaped acceleration/deceleration algorithm and quintic polynomial trajectory planning method is proposed, and moreover, a robust adaptive fuzzy tracking control strategy is presented against inevitable uncertainties and unknown external disturbances for trajectory tracking control of the cable−based gangue−sorting robot, where the stability of a closed-loop control scheme is proved with Lyapunov stability theory. Finally, the performances of pick−and−place trajectory planning scheme and robust adaptive tracking control strategy are evaluated through different numerical simulations within Matlab software. The simulation results show smoothness and continuity of pick−and−place trajectory for the end−grab as well as the effectiveness and efficiency to guarantee a stable and accurate pick−and−place trajectory tracking process even in the presence of various uncertainties and external disturbances. The pick−and−place trajectory generation scheme and robust adaptive tracking control strategy proposed in this paper lay the foundation for accurate sorting of MTGs with the robot.

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Section: Pick-and-place Trajectory Tracking Controlmentioning

confidence: 99%

Pick–and–Place Trajectory Planning and Robust Adaptive Fuzzy Tracking Control for Cable–Based Gangue–Sorting Robots with Model Uncertainties and External Disturbances

et al. 2022

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“…Werner et al established an analogous model of the CDPM, then identified system parameters, pulley friction, and load, and finally implemented feed-forward and integral controllers to improve control accuracy [24,25]. Other reported algorithms used in the control of CDPMs are composite control [26], computed torque control [27], robust PID control [28], and adaptive control [29]. However, previous studies could not meet the tension accuracy requirements for lunar takeoff simulation.…”

Section: Introductionmentioning

confidence: 99%

Optimal Design and Force Control of a Nine-Cable-Driven Parallel Mechanism for Lunar Takeoff Simulation

Yi¹,

Zheng²,

Weifang³

et al. 2019

Chin. J. Mech. Eng.

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Traditional simulation methods are unable to meet the requirements of lunar takeoff simulations, such as high force output precision, low cost, and repeated use. Considering that cable-driven parallel mechanisms have the advantages of high payload to weight ratio, potentially large workspace, and high-speed motion, these mechanisms have the potential to be used for lunar takeoff simulations. Thus, this paper presents a parallel mechanism driven by nine cables. The purpose of this study is to optimize the dimensions of the cable-driven parallel mechanism to meet dynamic workspace requirements under cable tension constraints. The dynamic workspace requirements are derived from the kinematical function requests of the lunar takeoff simulation equipment. Experimental design and response surface methods are adopted for building the surrogate mathematical model linking the optimal variables and the optimization indices. A set of dimensional parameters are determined by analyzing the surrogate mathematical model. The volume of the dynamic workspace increased by 46% after optimization. Besides, a force control method is proposed for calculating output vector and sinusoidal forces. A force control loop is introduced into the traditional position control loop to adjust the cable force precisely, while controlling the cable length. The effectiveness of the proposed control method is verified through experiments. A 5% vector output accuracy and 12 Hz undulation force output can be realized. This paper proposes a cable-driven parallel mechanism which can be used for lunar takeoff simulation. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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“…Nonlinear Sliding Mode Controller (SMC) and feasible workspace analysis for a cable suspended robot with input constraints is presented in [11]. All the above efforts for deriving kinematic and dynamic equations tend to present a simple model of CDPR that could works in an online manner with common control approaches while precision is not devastated [12,13]. Many researches illustrates effectiveness of the precise modeling of the robot in the controlling procedure [14,15], howe-Slika 1.…”

Section: Introductionmentioning

confidence: 99%

On The Design of The Robust Neuro-Adaptive Controller for Cable-driven Parallel Robots

et al. 2016

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Original scientific paperIn this study, a robust neuro-adaptive controller for cable-driven parallel robots is proposed. The robust neuroadaptive control system is comprised of a computation controller and a robust controller. The computation controller containing a neural-network-estimator with radial basis function activator is the principal controller and the robust controller is designed to achieve tracking performance. An on-line tuning method is derived to tune the parameters of the neural network for estimating the controlled system dynamic function. To investigate the effectiveness of the robust adaptive control, the design methodology is applied to control a cable-driven parallel robot. Simulation results demonstrate that the proposed robust adaptive control system can achieve favorable tracking performances for the robot.Key words: Robust control, Adaptive law, neural network, Cable-driven Parallel Robot Dizajn robusnog neuro-adaptivnog regulatora za žično pogonjene paralelne robote. U ovome redu predstavljen je neuro-adaptivni regulator za žično pogonjene paralelne robote. Robusni neuro-adaptivni regulator sastoji se od regulatora zasnovanog na estimiranom modelu i robusnog regulatora. Prvi regulator sadrži estimator s neuronskom mrežom s radijalnom aktivacijskom funkcijom glavni je regulator u sustavu, a robusni je regulator dizajniran za slijedenje. Izvedena je on-line metoda podešavanja parametara neuronske mreže za estimaciju dinamike sustava upravljanja. Efikasnost sustava adaptivnog, robusnog regulatora testirana je na na žično pogonjenom paralelnom robotu. Simulacijski rezultati pokazuju da se predloženim robusnim i adaptivnim regulatorom mogu dobiti zadovoljavajuće performanse prilikom slijedenja.Ključne riječi: robusno upravljanje, adaptivni upravljački zakon, neuronska mreža, žično pogonjeni paralelni robot INTRODUCTIONIn the recent decades, robots have been utilized in vast area of industries. However, many parts of manufacturing and engineering does not put upon robots, mainly due to the weakness of conventional robots [1] [2]. For instance, in many applications workspace requirements and load carrying capacity are so much higher than what the conventional robots can provide while cost of the robot should be considered [3] [4]. Toward resolving the latter issue, new class of parallel robots were introduced [5]. Cable-Driven Parallel Robots (CDPR) are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the End-Effector (EE) but not push it. Figure 1 represents schematically a CDPR in a general arrangement. It consists of motor, winch system and the EE. From a scientific stand point, feedback control of CDPR is lot more challenging than their counterpart parallel-actuated robots due to the cables behavior. Several efforts had been exerted on modeling and control

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Computed torque control of a cable suspended parallel robot

Cited by 8 publications

References 10 publications

Pick–and–Place Trajectory Planning and Robust Adaptive Fuzzy Tracking Control for Cable–Based Gangue–Sorting Robots with Model Uncertainties and External Disturbances

Pick–and–Place Trajectory Planning and Robust Adaptive Fuzzy Tracking Control for Cable–Based Gangue–Sorting Robots with Model Uncertainties and External Disturbances

Optimal Design and Force Control of a Nine-Cable-Driven Parallel Mechanism for Lunar Takeoff Simulation

On The Design of The Robust Neuro-Adaptive Controller for Cable-driven Parallel Robots

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