On the forward kinematics of cable-driven parallel robots

Pott, Andreas; Schmidt, Valentin

doi:10.1109/iros.2015.7353818

Cited by 29 publications

(13 citation statements)

References 17 publications

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“…is exerted on the end-effector with respect to {R}. b i , given by (8), depends on the rotation matrix R W R that denotes the rotation from {R} to {W} defined in (9).…”

Section: Quasi-static and Inverse Kinematic Problem Of Cable-driven Pmentioning

confidence: 99%

Empirical Quasi-Static and Inverse Kinematics of Cable-Driven Parallel Manipulators Including Presence of Sagging

Luan

Thinh

2020

Applied Sciences

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Cable-driven parallel manipulators (CDPMs) have been of great interest to researchers in recent years because they have many advantages compared to the traditional parallel robot. However, in many studies they lack the cable’s elasticity that leads to flexible cables just being considered as extendable rigid links. Furthermore, an external force acts on the extremities of cable and the self-weight is relevant to the length of it. Experimentally, a small change in length produces a huge change in tension act on the entire cable. By this property, the adjusting length of cable is often added to the traditional inverse kinematic solution in order to reduce the tension force exerted on the cable. This means that the load on the actuator is also reduced. Because of the relationship between tension that acts on the cable and its length, the kinematic problem itself does not make sense without concerning the static or dynamic problems. There is often interest in planning forces for actuators and the length of cables based on a given quasi-static trajectory of the moving platform. The mentioned problem is combined with the quasi-static problem with the inverse kinematic problem of CDPM. In this study, we introduce a novel procedure to produce the quasi-static model and inverse kinematic model for CDPM with the presence of sagging by using both an analytic approach and empirical approach. The produced model is time-efficient and is generalized for spatial CDPM. To illustrate the performance of the proposed model, the numerical and experimental approaches are employed to determine particular solutions in the feasible solutions set produced by our model in order to control the two redundant actuators’ CDPM tracking on a certain desired trajectory. Its results are clearly described in the experimental section.

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“…is exerted on the end-effector with respect to {R}. b i , given by (8), depends on the rotation matrix R W R that denotes the rotation from {R} to {W} defined in (9).…”

Section: Quasi-static and Inverse Kinematic Problem Of Cable-driven Pmentioning

confidence: 99%

Empirical Quasi-Static and Inverse Kinematics of Cable-Driven Parallel Manipulators Including Presence of Sagging

Luan

Thinh

2020

Applied Sciences

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“…Since the CDPR is over-constrained robot system with eight cables and 6-DOF end-effector, unique forward kinematic solution does not exist and various complicated computation algorithms are studied for the forward kinematics solver. 18,19 Here, we utilized the reduced Jacobian method as in equation (3) 20…”

Section: Robot Kinematics and Dynamicsmentioning

confidence: 99%

Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

Piao

Jin

Jung

et al. 2017

Advances in Mechanical Engineering

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A polymer cable-driven parallel robot has a wide range of potential industrial applications by virtue of its light actuator dynamics, high payload capability, and large workspace. However, due to a viscoelastic behavior of polymer cable and difficulty in actual cable length measurement, there have been inevitable position and tracking control accuracy problems such as pick and place a high payload application. In this article, to overcome control problem, we propose a modelbased open-loop control with the cable elongation compensation via experimentally driven cable model and switching control logic without additional Cartesian space feedback signal. The approach suggests a five-element cable model that is made with series combination of a linear spring and two Voigt models as a function of payload and cable length that are available to be measured in real-time. Experimental results show that using the suggested method, the cable length error due to viscoelastic effect can be compensated, and thus the position control accuracy of the polymer cable-driven parallel robot improved remarkably especially in gravity direction.

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“…Bu yöntemlere örnek olarak YSA ve Levenberg-Marquardt (Schmidt 2014) ile Tetrahedron ve Levenberg-Marquardt verilebilir. Karma yöntemlerinin yakınsama doğruluğunu artırmak için sayısal en iyileme de (optimization) uygulanmıştır (Pott 2015). Uç işlemci konumunun belirlenmesinde diğer olası yaklaşımlar ise konumun doğrudan görüntülenmesi veya lazer sensör tabanlı sistemler tarafından elde edilmesi şeklindedir (Lytle 2004, Bayani ve diğ., 2016, Sancak 2018.…”

Section: Gi̇ri̇ş (Introduction)unclassified

Kablo İle Sürülen Düzlemsel Paralel Bi̇r Robotun İleri̇ Ki̇nemati̇k Çözümü Ve Kontrolü

Sancak

Yamaç

İtik

2019

Konya Journal of Engineering Sciences

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Bu çalışmada, dört kablo ile sürülen, üç serbestlik dereceli düzlemsel bir paralel robotun hassas konum ve yönelim denetimi yapılmıştır. Kablo ile sürülen robotun geri beslemeli denetimi için gerekli olan durum değişkenleri, robotun ileri kinematik denklemlerinin çözülmesi ile elde edilmiştir. İleri kinematik denklemlerinin çözüm doğruluğunu artırmak ve yakınsama zamanını azaltmak için Yapay Sinir Ağları (YSA) ve Newton-Raphson yönteminin karma şekilde kullanıldığı bir yöntem kullanılmıştır. Bu karma yöntemde ilk olarak YSA ile bir başlangıç ileri kinematik çözüm elde edilmektedir. Elde edilen bu çözüm Newton-Raphson yönteminde başlangıç koşulu olarak kullanılarak, hem çözüme hızlı yakınsama sağlanmakta hem de sayısal çözümün doğruluğu artırılmaktadır. Ayrıca karma yöntem Newton-Raphson yönteminde başlangıç koşullarının kötü seçiminden meydana gelebilecek ıraksamaların önüne geçmektedir. Yapılan benzetim çalışmalarında, karma yöntem ile elde edilen ileri kinematik denklemlerinin gerçek zamanlı çözümleri robotun konumunu ve yönelimini denetlemek için tasarlanan kayan kipli denetleyicice geri besleme sinyali olarak kullanılmıştır. Elde edilen sonuçlar, birlikte kullanılan yöntemlerin kablo ile sürülen düzlemsel paralel robotun hassas denetiminde başarı sağlandığını göstermektedir.

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On the forward kinematics of cable-driven parallel robots

Cited by 29 publications

References 17 publications

Empirical Quasi-Static and Inverse Kinematics of Cable-Driven Parallel Manipulators Including Presence of Sagging

Empirical Quasi-Static and Inverse Kinematics of Cable-Driven Parallel Manipulators Including Presence of Sagging

Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

Kablo İle Sürülen Düzlemsel Paralel Bi̇r Robotun İleri̇ Ki̇nemati̇k Çözümü Ve Kontrolü

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