Dual-space adaptive control of redundantly actuated cable-driven parallel robots

Lamaury, Johann; Gouttefarde, Marc; Chemori, Ahmed; Hervé, Pierre-Elie

doi:10.1109/iros.2013.6697060

Cited by 63 publications

(36 citation statements)

References 17 publications

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“…This made every stack of layers printed by a single canister 5 mm thicker than it should be. Several mitigation solutions could have been applied: modify the weight input of the control of the CDPR in function of time for the control to compensate for the weight loss; or use adaptive control (Lamaury et al 2013) in order to compensate automatically such changes in the model.…”

Section: High Printmentioning

confidence: 99%

“…Positioning errors have been witnessed, leading to uneven thickness and width of the material layer. These errors are the result of the design of the controller, operating in joint space with dual-space feedforward (Lamaury et al 2013), combined with low reduction ratio on the motors. In order to visualize this phenomenon, a test campaign on the CDPR moving along a sample printing trajectory without performing extrusion at different altitudes has been performed to visualize which positioning error of the CDPR leads to which layer quality.…”

Section: High Printmentioning

confidence: 99%

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Large-scale 3D printing with cable-driven parallel robots

Izard¹,

Dubor

Hervé³

et al. 2017

Constr Robot

112

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Gantry robots and anthropomorphic arms of various sizes have already been studied and, while they are in use in some parts of the world for automated construction, a new kind of wide workspace machinery, cable-driven parallel robots (CDPR), has emerged. These robots are capable of automated movement in a very wide workspace, using cables reeled in and out by winches as actuation members, the other elements being easily stacked for easy relocation and reconfiguration, which is critical for on-site construction. The motivation of this paper is to showcase the potential of a CDPR operating solely on motor position sensors and showing limited collisions from the cables for large-scale applications in the building industry relevant for additive manufacturing, without risk of collisions between the cables and the building. The combination of the Cogiro CDPR (Tecnalia, LIRMM-CNRS 2010) with the extruder and material of the Pylos project (IAAC 2013) opens the opportunity to a 3D printing machine with a workspace of 13.6 9 9.4 9 3.3 m. The design patterns for printing on such a large scale are disclosed, as well as the modifications that were necessary for both the Cogiro robot and Pylos extruder and material. Two prints, with different patterns, have been achieved with the Pylos extruder mounted on Cogiro: the first spanning 3.5 m in length, the second, reaching a height of 0.86 m. Based on this initial experiment, plans for building larger parts and buildings are discussed, as well as other possible applications for CDPRs in construction, such as the manipulation of assembly processes (windows, lintels, beams, floor elements, curtain wall modules, etc.) or brick laying.

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Section: High Printmentioning

confidence: 99%

Section: High Printmentioning

confidence: 99%

Large-scale 3D printing with cable-driven parallel robots

Izard¹,

Dubor

Hervé³

et al. 2017

Constr Robot

112

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“…The dynamics of the winches can be written as follows [15] Γ Γ Γ a = I aq + F vq + F c sign(q) + Rt (15) where I a ∈ R m×m , F v ∈ R m×m , and F c ∈ R m×m are diagonal matrices denoting, respectively, the inertia, the viscous friction coefficients, and the dry friction coefficients of the motors, drums and other other rotating parts. Let I a , F v , and F c ∈ R m be vectors corresponding to the diagonal elements of I a , F v , and F c , respectively.…”

Section: Winches Dynamicsmentioning

confidence: 99%

“…Computedtorque control methods appeared in [14]. To make use of the advantages of both the actuator-space and operational-space formulations, a dual space adaptive controller has been proposed in [15].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo

El-Ghazaly

Gouttefarde

Creuze

2014

Mechanisms and Machine Science

Self Cite

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This paper presents an extended adaptive control scheme via terminal sliding mode (TSM) for cable-driven parallel manipulators (CDPM). Compared with linear hyperplane-based sliding mode control, TSM is able to guarantee highprecision and robust tracking performances which arise from its main feature of finite-time convergence. This motivates applying TSM to robotic manipulators in general and, as presented in this paper, to CDPM in particular. The scheme presented in this paper extends early developed TSM control schemes which are based on partial knowledge of system dynamics. Instead, making use of the property that the dynamic models of mechanical manipulators are linear in inertial parameters, an adaptive control law is synthesised based on an appropriate choice of Lyapunov function which guarantees finite-time convergence to neighborhood of sliding mode. A key challenge of the control of CDPM is that cable tensions must be admissible, i.e. lying in a non-negative range of admissible values. As long as cable tensions are admissible, the overall dynamics of CDPM can be easily written in either actuator space or operational space which in turn facilitates control system design. The extended adaptive control scheme has been applied to a large redundantly actuated CDPR prototype, CoGiRo. Simulation results show the effectiveness of the proposed control method.

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“…Generally, there are two alternative methods for controlling the posture of the platform: traditional rigid suspension driven manipulators [1] and cable-driven parallel manipulators (CDPMs) [2][3][4]. The CDPMs have several advantages over traditional rigid suspension driven manipulators through the use of cables instead of rigid links, delivering a larger workspace [5], complex environment adaptability [6], smaller power consumption [7] and high payload-to-weight ratio [8]. However, CDPMs with a high degree of coupling is relatively complex and the trajectory of a moving platform is primarily restricted by its requirements [9].…”

Section: Introductionmentioning

confidence: 99%

Design and Trajectory Analysis of Incompletely Restrained Cable-suspension Swing System Driven by Two Cables

Wang

Cao

Zhu

et al. 2015

Int. j. adv. robot. syst.

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In order to simulate the swing conditions of a suspended platform of a construction shaft, marine ships, cars, etc., an incompletely restrained cable-suspension swing system driven by two cables (IRCSWs2) was designed and parameter trajectories of displacements, angles and tensions were systematically investigated. Firstly, the motion mechanism of the IRCSWs2 is described and the corresponding kinematic model is established. For further evaluating the analytical expressions, the ADAMS simulation model and the physical prototype experimental model were developed. The basic consistency and slight difference among the three models are illustrated by a comparison of different parameters. The approximately linear relationship between the driving displacements of two cables and the swing angles of the platform was obtained. Finally, the effects of various parameters on displacements, angles and tensions were analysed, and the results indicate that the translation of a suspended platform is slight during its swing and that the novel IRCSWs2 can be used to drive heavy loads using a relatively small driving force, which is useful for simulating swing environmental conditions long-term, in addition to being cost-effective. Keywords

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Dual-space adaptive control of redundantly actuated cable-driven parallel robots

Cited by 63 publications

References 17 publications

Large-scale 3D printing with cable-driven parallel robots

Large-scale 3D printing with cable-driven parallel robots

Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo

Design and Trajectory Analysis of Incompletely Restrained Cable-suspension Swing System Driven by Two Cables

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