Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

Tang, Lian; Tang, Xiaoqiang; Jiang, Xiaoling; Gosselin, Clément

doi:10.1016/j.mechatronics.2015.07.005

Cited by 26 publications

(6 citation statements)

References 23 publications

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“…Model of a 6-degree-of-freedom (DOF) redundant actuation of cable-driven parallel robot (CDPR) system: (a) cable distribution and (b) pulley configuration connected in series. 16 where a 1 is the wrapping angle of Pulley 1 and L x and L y are the x-and y-components of the cable length, respectively. The tension was measured using a force sensor (load cell, UMM-K200).…”

Section: Model Of Redundant-actuated Cdpr Systemmentioning

confidence: 99%

“…Because the dynamic friction of pulleys affect dominantly the cable tension, these dynamic characteristics are essential for developing highly accurate models such as the control and determination of workspace. 16,17 Although there have been some researches into the pulley bearing friction of CDPRs, there have not been any study to calculate the tension accurately using a dynamic friction model combined with kinematics. In our previous research, 18 we predicted the tension accurately using the relationship between tension and pulley bearing friction with a kinematic Coulomb model in a static equilibrium.…”

Section: Introductionmentioning

confidence: 99%

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Tension analysis of a 6-degree-of-freedom cable-driven parallel robot considering dynamic pulley bearing friction

Choi

Park

2017

Advances in Mechanical Engineering

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Recently, cable-driven parallel robots have been used in many industrial fields. Especially, cable-driven parallel robots have been used in specialized industrial fields where dynamical features such as high accuracy in systems requiring quick transitions. In this article, Dahl friction model was proposed to predict the tension during quick transitions in cable-driven parallel robots. And the Dahl friction equation for a combination of pulleys connected in series was derived. From their relationships, a modified kinematic equation was developed for redundant actuation cable-driven parallel robot systems. Because Dahl friction has non-linear characteristics, the actual tension set problem was solved using the Newton-Raphson method combined with the constrained non-linear multivariable optimal method. Finally, the tension profiles were simulated using both Dahl and Coulomb friction models with fast and slow velocities. In conclusion, according to simulation, Dahl friction model expressed dynamic characteristics such as pre-sliding in the transition range. Thus, it was in better agreement with the experiments than the Coulomb friction model. In particular, Dahl friction model was more accurate in the case of slow motion in the pre-sliding range.

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Section: Model Of Redundant-actuated Cdpr Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Tension analysis of a 6-degree-of-freedom cable-driven parallel robot considering dynamic pulley bearing friction

Choi

Park

2017

Advances in Mechanical Engineering

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“…The terminal trajectory planning of industrial robots determines whether the robot can accurately complete the task. Trajectory planning of industrial robots has very important practical significance because it determines the robot's energy consumption, production efficiency, and service life [1], [2], [3].…”

Section: Introductionmentioning

confidence: 99%

Robot Time Optimal Trajectory Planning Based on Improved Simplified Particle Swarm Optimization Algorithm

Sun

et al. 2023

IEEE Access

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In order to tackle the robot trajectory planning problem with the short running time as the optimization goal, a time-optimal trajectory planning algorithm was presented based on improved simplified particle swarm optimization (ISPSO). The robot's trajectory was constructed by 3-5-3 polynomial interpolation in the joint space of the robot. Under the condition of satisfying the velocity constraint, the objective function was constructed by the sum of the time intervals between each node. ISPSO was used to optimize the objective function. The algorithm was improved by optimizing the inertia weight updating method and introducing a golden sine segmentation algorithm as an optimization operator. Compared with other particle swarm optimization algorithms, ISPSO had higher search velocity and accuracy. The effectiveness of the proposed algorithm was demonstrated through simulations using the PUMA 560 industrial robot, which resulted in a 19% reduction in time compared to the simplified particle swarm algorithm. The simulation results show that ISPSO achieved time optimization under the condition of velocity constraint, which proved its superiority in trajectory planning.

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“…The two-DoF system could be viewed as a double pendulum. Double pendulums could be under-actuated systems [23], or redundantly actuated [24]. Fradkov et al presented a multi-pendulum benchmark to assess the implementation of different algorithms and estimation methods [25].…”

Section: Introductionmentioning

confidence: 99%

A benchmark mechatronics platform to assess the inspection around pipes with variable pitch quadrotor for industrial sites

et al. 2021

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This paper investigates the inspection-of-pipe topic in a new framework, by rotation around a pipe, peculiar to industrial sites and refineries. The evolution of the ultimate system requires prototype design and preliminary tests. A new benchmark has been designed and built to mimic the rotation around a pipe, with the main purpose of assessing the different types of rotors and control systems. The benchmark control system presents a mechatronics package including mechanical design and machining, electronics and motor drive, motor-blade installation, computer programming, and control implementation. The benchmark is also modular, working with two modes of one-and two-degree-of-freedom (DoF), easily interchangeable. To cover a full rotation, conventional fixed-pitch drones fail to provide negative thrusts; nonetheless, variable-pitch (VP) rotor quadcopters can produce that in both directions. A closed-loop nonlinear optimal controller is chosen for real-time communication, so-called, "the statedependent Riccati equation (SDRE)" approach. Optimal control policies are challenging for experimentation though it has been successfully done in this report. The advantage of the VP is also illustrated in a rotation plus radial motion in comparison with fixed-pitch rotors while a wind gust disturbs the inspection task. The proposed VP system compensated the disturbance while the fixed-pitch was pushed away by the wind gust. The solution methods to the SDRE were mixed, a closed-form exact solution for the one-DoF system, and a numerical one for the two-DoF. Solving the Riccati online in each time step is a critical issue that was effectively solved by the implementation approach, through online communication with MATLAB software. Both simulations and experiments have been performed along with a discussion to prove the application of VP systems in rotary-motion pipe inspection.

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Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

Cited by 26 publications

References 23 publications

Tension analysis of a 6-degree-of-freedom cable-driven parallel robot considering dynamic pulley bearing friction

Tension analysis of a 6-degree-of-freedom cable-driven parallel robot considering dynamic pulley bearing friction

Robot Time Optimal Trajectory Planning Based on Improved Simplified Particle Swarm Optimization Algorithm

A benchmark mechatronics platform to assess the inspection around pipes with variable pitch quadrotor for industrial sites

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