Optimal balancing of planar cable robot in point to point motion using the indirect approach

Nikoobin, A.; Vezvari, Mojtaba Riyahi; Ahmadieh, Mojtaba

doi:10.1109/icrom.2015.7367834

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Cited by 4 publications

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“…The method calculates states, controls, and unknown parameters of the robot for a point-to-point motion, simultaneously. 21 They developed their work for planar cable robot 22 and spatial cable robot. 23 Arakelian studied the gravity compensation methods applied in robotics.…”

Section: Introductionmentioning

confidence: 99%

Perfect Torque Compensation of Planar 5R Parallel Robot in Point-to-Point Motions, Optimal Control Approach

2020

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SUMMARY In this paper, a new approach is presented for perfect torque compensation of the robot in point-to-point motions. The proposed method is formulated as an open-loop optimal control problem. The problem is defined as optimal trajectory planning with adjustable design parameters to compensate applied torques of a planar 5R parallel robot for a given task, perfectly. To illustrate the effectiveness of the approach, the obtained optimal path is used as the reference command in the experiment. The experimental outputs show that the performance index has been reduced by over 80% compared to the typical design of the robot.

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Section: Introductionmentioning

confidence: 99%