Human-cable collision detection with a cable-driven parallel robot

Rousseau, Thomas; Chevallereau, Christine; Caro, Stéphane

doi:10.1016/j.mechatronics.2022.102850

Cited by 6 publications

(1 citation statement)

References 29 publications

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“…The impact of CDPR stiffness on its transparency, which is the robot's ability to move in the direction intended by the user, during co-manipulation tasks involving human-robot interaction is also explored [20]. Other researchers contributed to collaborative CDPR focusing on managing cable interferences and collision detection methods when a human-CDPR physical interaction is needed [21,22]. Additional researchers also contributed to the field by proposing and evaluating advanced control strategies aimed at enhancing physical human-robot collaboration [23].…”

Section: Collaborative For Non-standard Robotics: Collaborative Cdprsmentioning

confidence: 99%

Collaborative Behavior for Non-Conventional Custom-Made Robotics: A Cable-Driven Parallel Robot Application

Garrido,

Silva-Muñiz,

Riveiro

et al. 2024

Machines

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The human-centric approach is a leading trend for future production processes, and collaborative robotics are key to its realization. This article addresses the challenge of designing a new custom-made non-conventional machine or robot involving toolpath control (interpolated axes) with collaborative functionalities but by using “general-purpose standard” safety and motion control technologies. This is conducted on a non-conventional cable-driven parallel robot (CDPR). Safety is assured by safe commands to individual axes, known as safe motion monitoring functionalities, which limit the axis’s speed in the event of human intrusion. At the same time, the robot’s motion controller applies an override to the toolpath speed to accommodate the robot’s path speed to the limitations of the axes. The implementation of a new Pre-Warning Zone prevents unnecessary stops due to the approach of the human operator. The article also details a real experiment that validates the effectiveness of the proposed strategy.

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Section: Collaborative For Non-standard Robotics: Collaborative Cdprsmentioning

confidence: 99%

Collaborative Behavior for Non-Conventional Custom-Made Robotics: A Cable-Driven Parallel Robot Application

Garrido,

Silva-Muñiz,

Riveiro

et al. 2024

Machines

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Editorial: “Physical human-robot interaction and co-manipulation: Mechatronics approaches”

et al. 2022

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Reconfigurable cable-driven parallel mechanism design: physical constraints and control

Khoshbin,

Otis,

Meziane

2024

Robotica

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The cable-driven parallel mechanism (CDPM) is known as an interesting application in industry to pick and place objects owing to its advantages such as large workspaces. In addition to the advantages of this mechanism, there are some challenges to improving performance by considering constraints in different components, such as the behavior of cables, shape, size of the end effector and base, and model of pulleys and actuators. Moreover, the impact of online geometry reconfiguration must be analyzed. This paper demonstrates the impact of these constraints on the performance of reconfigurable CDPM. The methodology is based on the systematic review and meta-analysis guidelines to report the results. The databases used to find the papers are extracted from Scopus and Google Scholar, using related keywords. As a result, the impact of physical constraints on system performance is discussed. A total of 90 and 37 articles are selected, respectively. After removing duplicates and unrelated papers, 88 studies that met the inclusion criteria are selected for review. Even when considering the physical constraints in modeling the mechanism, simplifications in designing a model for the reconfigurable CDPM generate errors. There is a gap in designing high-performance controllers to track desired trajectories while reconfiguring the geometry, and the satisfaction of physical constraints needs to be satisfied. In conclusion, this review presents several constraints in designing a controller to track desired trajectories and improve performance in future work. This paper presents an integrated controller architecture that includes physical constraints and predictive control.

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Human-cable collision detection with a cable-driven parallel robot

Cited by 6 publications

References 29 publications

Collaborative Behavior for Non-Conventional Custom-Made Robotics: A Cable-Driven Parallel Robot Application

Collaborative Behavior for Non-Conventional Custom-Made Robotics: A Cable-Driven Parallel Robot Application

Editorial: “Physical human-robot interaction and co-manipulation: Mechatronics approaches”

Reconfigurable cable-driven parallel mechanism design: physical constraints and control

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