Development of a MR-compatible cable-driven manipulator: Design and technological issues

Abdelaziz, Salih; Esteveny, Laure; Barbé, Laurent; Renaud, Pierre; Bayle, B.; Mathelin, Michel de

doi:10.1109/icra.2012.6225302

Cited by 14 publications

(8 citation statements)

References 25 publications

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“…In this case, the problem of unidirectional constraints is generally solved using tension distribution algorithms [15]. Until now, such algorithms aimed at finding the most suitable cable tensions within an admissible positive range [16,17]. The only goal is then to avoid negative tensions in the cables by discarding the non-compatible actuators state.…”

Section: State Of the Artmentioning

confidence: 99%

“…A deflection δθ is then applied and the resulting torque δT is measured with the torquemeter. Then λ 2 is set to reach the desiredθ K according to (17) until one of the tension bounds is reached. The angular deflection δθ as well as the perturbation torque δT are recorded all along the experiment so that the stiffness δ δθ = θ K T/ can be estimated at each sampling time.…”

Section: Modulation Of Stiffness Derivativementioning

confidence: 99%

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From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism

Boehler

Abdelaziz

Vedrines

et al. 2017

Mechanism and Machine Theory

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International audienceCable-driven tensegrity mechanisms are now considered for various applications in which their reconfiguration capacities are required together with their inherent lightness. Moreover, they can exhibit interesting variable stiffness capacities through the modification of their level of prestress when composed of deformable cables. Control schemes that deal with both reconfiguration and stiffness variation have however not been developed in the literature yet.This paper presents two control strategies for that purpose to transform a cable-driven tensegrity mechanism into a variable stiffness device. The mechanism is a planar tensegrity mechanism allowing us to control an angular position and the associated stiffness. Relying on the properties of the mechanism models, the proposed control strategies allow a modulation of the stiffness or of its first time derivative. The interest of both propositions is outlined and an experimental investigation of their characteristics is performed. Encouraging results are obtained in terms of reconfiguration capabilities and stiffness variation

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Section: State Of the Artmentioning

confidence: 99%

Section: Modulation Of Stiffness Derivativementioning

confidence: 99%

From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism

Boehler

Abdelaziz

Vedrines

et al. 2017

Mechanism and Machine Theory

Self Cite

View full text Add to dashboard Cite

show abstract

“…2), friction is the main issue. Indeed, the evaluation of friction along the line transmission [17] has shown at least 75% tension loss for the best configuration of the cables path with the platform at the center of the workspace. In addition, this tension loss is pose-dependent.…”

Section: Problem and Contributionsmentioning

confidence: 99%

Control of cable-driven manipulators in the presence of friction

Abdelaziz

Barbé

Renaud

et al. 2017

Mechanism and Machine Theory

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Cable-driven systems are of great interest in applications for which remote actuation is required, like for instance to operate within medical imaging devices. In such applications, robotic architectures based on remotely actuated cable-driven manipulators (CDM) offer innovative design options. However, unlike more conventional CDM, such designs involve specific control problems. This paper deals with the control of CDM in the presence of friction, as experienced when particular design constraints have to be taken into account (size, materials, length of transmissions). In this case, the influence of friction on the manipulator motions is such that dynamic modeling, identification and control, are no longer adapted, nor even possible. As a result, for quasi-static positioning tasks, we propose a CDM position control strategy resulting from a cascade structure, with an internal cable tension control loop to handle friction. Cable tension is measured using an original instrumented compliant structure. From the control point of view, the originality of the present paper comes in particular from the development of a feasibility algorithm which allows us to limit cables tensions within a specified range. This strategy is experimentally assessed on a robot for image-guided medical procedures.

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“…Cable-Driven Parallel Robots (CDPRs) are a particular type of parallel robot in which cables connect the base to the mobile platform [1,3]. Their main advantage may be scalability: Cables with small to very large lengths are easily stored on winch drums allowing one to build CDPRs with a workspace of global dimension ranging from a few centimeters [4] to tens of meters or more [5]. This useful property makes CDPRs good candidates for several applications, e.g., robotic cranes [6], automated construction systems [7], aerial camera systems [8], human-scale force-feedback haptic systems [9], or large radio telescopes [10,11].…”

Section: Introductionmentioning

confidence: 99%

Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

et al. 2019

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This paper deals with the modeling and vision-based control of large-dimension cable-driven parallel robots. Inverse kinematics and instantaneous inverse kinematics models are derived from the elastic catenary cable modeling. These models turn out to be dependent on the pose of the mobile platform (end-effector), on the cable tangent directions and on the cable tensions. In order to control the motion of the robot, a position-based visual servo control is used, where the mobile platform pose is measured by vision and used for regulation. A multi-camera setup and load cells provide the aforementioned desired measurements, i.e., the mobile platform pose, the directions of the tangents to the cables, and the cable tensions. The proposed approach was validated in experiments on the large-dimension cable-driven parallel robot prototype CoGiRo of global dimensions 15 m x 11 m x 6 m (L x l x h). A maximum error of less than 1 cm in position and 0.5 • in orientation was achieved. Moreover, in the case of cable-driven parallel robots larger than the prototype CoGiRo, simulations were conducted in order to assess the influence on the vision-based control of four instantaneous inverse kinematics models.

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Development of a MR-compatible cable-driven manipulator: Design and technological issues

Cited by 14 publications

References 25 publications

From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism

From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism

Control of cable-driven manipulators in the presence of friction

Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

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