Multi-source micro-friction identification for a class of cable-driven robots with passive backbone

Tjahjowidodo, Tegoeh; Zhu, Ke; Dailey, Wayne; Burdet, Etienne; Campolo, Domenico

doi:10.1016/j.ymssp.2016.04.032

Cited by 12 publications

(4 citation statements)

References 31 publications

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“…where [J] + is the pseudo inverse matrix of J. By considering Dahl friction, equation (12) can be rearranged as equation (13) using the pseudo inverse matrix. To obtain the optimal value, the constrained non-linear multivariable optimal method 18 using equation (15) was applied as shown in equation (14).…”

Section: Modeling the Pulley Bearing Frictionmentioning

confidence: 99%

“…5,9 However, the endeffector is negatively affected by non-linear dynamics and uncertainty in the behaviors of some components, resulting in cable elongation, winch friction, and pulley bearing friction. [10][11][12][13] That prevents high-accuracy control. CDPRs requiring high position accuracy have a number of pulleys guiding each cable; thus, pulley bearing friction from cable tension introduces significant error, reportedly 11% 14 and 10% 15 in some cases.…”

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: Modeling the Pulley Bearing Frictionmentioning

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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“…Tendon transmission is a source of high nonlinearities due to hysteresis, tendon elongation, slack, and friction. These nonlinearities are very hard to model, even if much research focused on building analytical models [2][3][4][5][6][7][8]. It is necessary to compensate for the nonlinearities in the transmission, such as friction or cable extension, in order to guarantee safe task execution an proper master-slave control [9].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Kinematic Modelling for Multiobjective Control of a Redundant Surgical Robotic Tool

2020

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Accurate kinematic models are essential for effective control of surgical robots. For tendon driven robots, which are common for minimally invasive surgery, the high nonlinearities in the transmission make modelling complex. Machine learning techniques are a preferred approach to tackle this problem. However, surgical environments are rarely structured, due to organs being very soft and deformable, and unpredictable, for instance, because of fluids in the system, wear and break of the tendons that lead to changes of the system’s behaviour. Therefore, the model needs to quickly adapt. In this work, we propose a method to learn the kinematic model of a redundant surgical robot and control it to perform surgical tasks both autonomously and in teleoperation. The approach employs Feedforward Artificial Neural Networks (ANN) for building the kinematic model of the robot offline, and an online adaptive strategy in order to allow the system to conform to the changing environment. To prove the capabilities of the method, a comparison with a simple feedback controller for autonomous tracking is carried out. Simulation results show that the proposed method is capable of achieving very small tracking errors, even when unpredicted changes in the system occur, such as broken joints. The method proved effective also in guaranteeing accurate tracking in teleoperation.

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“…As a result, it has been difficult to control the position of the end-effector accurately. The inaccuracy can occur as a result of various causes, such as cable elastic behavior, winch friction, friction between the cable and pulley surface, and pulley bearing friction (Lee et al 2011;Lamaury et al 2013;Kraus et al 2013;Miermeister et al 2015;Tjahjowidodo et al 2016).…”

Section: Introductionmentioning

confidence: 99%

Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

2016

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Multi-source micro-friction identification for a class of cable-driven robots with passive backbone

Cited by 12 publications

References 31 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

Adaptive Kinematic Modelling for Multiobjective Control of a Redundant Surgical Robotic Tool

Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

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