On the inverse kinematics and statics of cable-suspended robots

Roberts, Rodney G.; Graham, Todd; Trumpower, J.M.

doi:10.1109/icsmc.1997.637374

Cited by 12 publications

(5 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where τ ∈ R 4 is wire tension vector, A T is the transpose of the Jacobian matrix referred to as structure matrix [14,15]. When only static transport is considered, the inertial force on the object is negligibly small compared to gravity, so the actuation force f wire , gravitational force G ∈ R 3 , and the operating force f ext ∈ R 3 applied by the operator can be considered to be balanced, and this relationship can be used to estimate the operating force:…”

Section: Power Assist Using Impedance Controlmentioning

confidence: 99%

A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation

Sugahara

Chen

ATSUMI

et al. 2020

ROMANSY 23 - Robot Design, Dynamics and Control

View full text Add to dashboard Cite

This paper describes the development of the suspended cable-driven parallel robot for object transportation having power assist function. The robot consists of the winches to drive four cables which suspend the object and control its three degrees of freedom motion. The impedance controller based on the external force measured by the tension sensors enables the operator to transport and position the object intuitively by directly applying the force to the object. Additionally, the workspace departure avoidance control by installing the virtual stiffness into the controller is also introduced.

show abstract

Section: Power Assist Using Impedance Controlmentioning

confidence: 99%

A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation

Sugahara

Chen

ATSUMI

et al. 2020

ROMANSY 23 - Robot Design, Dynamics and Control

View full text Add to dashboard Cite

show abstract

“…The theory for describing the mechanics of CDPMs is well established (eg, Alp and Agrawal, Roberts et al, and Pott et al). The present work makes the simplifying assumption of actuation in a single DOF.…”

Section: Hybrid Model Coupling Approach and Control Formulationmentioning

confidence: 99%

Validation of a hybrid modeling approach to floating wind turbine basin testing

Hall

Goupee

2018

Wind Energy

View full text Add to dashboard Cite

Hybrid modeling combining physical tests and numerical simulations in real time opens new opportunities in floating wind turbine research. Wave basin testing is an important validation step for floating support structure design, but current methods are limited by scaling problems in the aerodynamic loadings. Applying wind turbine loads with an actuation system controlled by a simulation that responds to the basin test offers a way to avoid scaling problems and reduce cost barriers for floating wind turbine design validation in realistic coupled conditions. In this work, a cable-based hybrid coupling approach is developed and implemented for 1:50-scale wave basin tests with the DeepCwind semisubmersible floating wind turbine. Tests are run with thrust loads provided by a numerical wind turbine model. Matching tests are run with physical wind loads using an above-basin wind maker. When the numerical submodel is set to match the aerodynamic performance of the physical scaled wind turbine, the results show good agreement with purely physical wind-wave tests, validating the hybrid model approach. Further hybrid model tests with simulated true-to-scale dynamic thrust loads and wind turbulence show noticeable differences and demonstrate the value of a hybrid model approach for improving the true-to-scale realism of floating wind turbine basin tests. KEYWORDS basin test, floating, hybrid model, hybrid testing, wind turbine 1 INTRODUCTION Scale-model testing of floating wind turbines, often considered an essential validation step in the design process, faces a difficult scaling problem. Two different fluid-structure-interaction domains need to be scaled simultaneously: the hydrodynamics of the floating support structure and the aerodynamics of the wind turbine. The dominance of different nondimensional ratios in each makes scaling without compensation cause discrepancies in the results. For example, a scaled-down floating wind turbine may require higher wind speeds and blade pitch adjustments to achieve the correct thrust force. 1 On top of this, there is the challenge of recreating a wind turbine's mechanical properties at small scale. For less advanced facilities, even providing controlled wind conditions above the wave basin may not be feasible. All these factors contribute to the scaling difficulty in floating wind turbine experiments. A number of approaches have arisen in recent years to counter some of these challenges, especially to do with the turbine aerodynamics. Müller et al review many of the challenges and options for floating wind turbine basin testing. 2 The most direct approach is to compensate for performance reductions through changes to the rotor geometry. Martin et al explored enlarging the blades, using special airfoils, and adding leading edge roughness to counter the lowered Reynolds number. 3 Research at the University of Maine and the Maritime Research Institute of the Netherlands(MARIN) showed that using low-Reynolds number airfoils with enlarged chord lengths can come close to matching true-to-s...

show abstract

“…By using just 6 wires, a large working space can be achieved, and the base plate doesn't swing even if the mounted robot moves. However, if the robot moves very fast, the plate may turn over.…”

Section: Introductionmentioning

confidence: 98%

“…Since the base link or plate is not fixed to ground, it is easy to swing by wind or force disturbance. Moreover, both the kinematics and inverse kinematics generally become very complicated because the kinematics is calculated under the existence of force constraints by gravity [5] [6] [7] [8].…”

Section: Introductionmentioning

confidence: 99%

Control of a Redundant Manipulator Mounted on a Base Plate Suspended by Six Wires

Osumi

Saitoh

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Two control methods of controlling a redundant manipulator mounted on a base plate suspended by six wires are proposed. By suspending the base plate by six linearly independent wires, the plate doesn't swing even if the reaction forces are applied to the plate from the moving manipulator. However, if the reaction forces become too large due to fast motion, some wires become loose and the base plate may turn over. To avoid the overturn, two ways to exploit the redundancy of the manipulator are proposed and their effectiveness is verified by simulations and experiments.

show abstract

On the inverse kinematics and statics of cable-suspended robots

Cited by 12 publications

References 2 publications

A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation

A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation

Validation of a hybrid modeling approach to floating wind turbine basin testing

Control of a Redundant Manipulator Mounted on a Base Plate Suspended by Six Wires

Contact Info

Product

Resources

About