Improving performance of cable robots by adaptively changing minimum tension in cables

Abdolshah, Saeed; Rosati, Giulio

doi:10.1007/s12541-017-0080-x

Cited by 4 publications

(4 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…(2) Perform partial differential treatment ∂ ∂U mpc J = 0 on the cost function J y mpc , U mpc to get the minimum value. Equation ( 28) can be rewritten as: (30) where b ineq = [F vmax ; F imax ; −F vmin ; −F imin ], F vmax , and F imax are the maximum tension values for vertical cables and cable-stayed cables, respectively, F vmin and F imin are the minimum tension values for vertical cables and cable-stayed cables.…”

Section: Linear Model Predictive Control (Lmpc)mentioning

confidence: 99%

See 1 more Smart Citation

Robust Adaptive Backstepping Motion Control of Underwater Cable-Driven Parallel Mechanism Using Improved Linear Model Predictive Control

Zhao

Qin

et al. 2023

JMSE

View full text Add to dashboard Cite

This paper proposes a novel motion-tracking control methodology for an underwater cable-driven parallel mechanism (CDPM) that achieves calculation of dynamic tension constraint values, tension planning, parameter linearization, and motion tracking. The control objective is divided into three sub-objectives: motion tracking, horizontal displacement suppression, and cable-tension restriction. A linear model predictive control (LMPC) method is designed to plan cable tensions for motion-tracking and displacement suppression. The robust adaptive backstepping controller converts cable tension into winch speed based on the joint-space method and command filtering. Moreover, the X−swapping method is used to linearize and identify the time−varying nonlinear parameters. An essential prerequisite for restricting cable tension is to obtain cable-tension constraint values. A novel dynamic minimum tension control (DMTC) method, based on the equivalent control concept, is proposed for this aim. The DMTC can adaptively obtain the lower cable-tension threshold through the platform posture and motion status, anchor distribution position, and cable integrity status. Compared to traditional fixed tension constraint values, DMTC can more effectively cope with sudden changes in cable tension than fixed tension constraints. Finally, several simulations are carried out to verify the effectiveness and robustness of the proposed approach.

show abstract

Section: Linear Model Predictive Control (Lmpc)mentioning

confidence: 99%

“…These values are pre-set, experiential, and fixed during movement. In this case, Abdolshah et al [30] proposed an adaptive dynamic minimum tension control method, adjusting the lower tension threshold within a region based on tracking error and tension magnitude. However, this method still requires prior knowledge of the adjustment range.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Backstepping Motion Control of Underwater Cable-Driven Parallel Mechanism Using Improved Linear Model Predictive Control

Zhao

Qin

et al. 2023

JMSE

View full text Add to dashboard Cite

show abstract

“…Due to the tension-ability feature, methods for distributing cable tension were proposed to avoid slackness and excessive tension in cables. Abdolshah and Rosati 17 proposed a method by using stiffness, and system dynamics and error values as indices to dynamically change the minimum tension in cables, which led to less power consumption and better performance accuracy. Gouttefarde et al 18 presented a self-contained and versatile tension distribution algorithm for an n-DOF CDPR driven by n þ 2 cables, it could process various singularity with the optimal cable tension distributions.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot

Chen

Lin

Wei

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

This paper investigates the force sensitivity of 6-DOF cable-driven parallel robots (CDPRs) in order to propose a better force measurement device. Kinematics and dynamics for a CDPR of n-DOF are deduced and formulated, and algorithms for calculating the cable tension are developed. Then, by defining geometrical parameters related to the dimensions and configurations of the CDPRs, optimal methods for determining force sensitivity with respect to the structure matrix and twist vector of the 6-DOF CDPRs with two different moving platforms (i.e. a cubic-shaped, and a flat moving platform) are proposed. By using numerical examples integrated with external twists obtained from wind tunnel tests, simulations and analysis for the two type of 6-DOF CDPRs are carried out. The simulation results help identify the optimal dimensions that can be used to design 6-DOF-CDPR-based force measuring devices with high force sensitivity. Experiment validation is also conducted to verify the method proposed in this paper.

show abstract

A Mechatronic Mirror-Image Motion Device for Symmetric Upper-Limb Rehabilitation

Kyeong

Kim

2020

Int. J. Precis. Eng. Manuf.

View full text Add to dashboard Cite

Improving performance of cable robots by adaptively changing minimum tension in cables

Cited by 4 publications

References 30 publications

Robust Adaptive Backstepping Motion Control of Underwater Cable-Driven Parallel Mechanism Using Improved Linear Model Predictive Control

Robust Adaptive Backstepping Motion Control of Underwater Cable-Driven Parallel Mechanism Using Improved Linear Model Predictive Control

Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot

A Mechatronic Mirror-Image Motion Device for Symmetric Upper-Limb Rehabilitation

Contact Info

Product

Resources

About