Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency

Ueland, Einar Skiftestad; Sauder, Thomas; Skjetne, Roger

doi:10.1109/tro.2020.3020747

Cited by 25 publications

(10 citation statements)

References 37 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We next express the force allocation problem as an optimisation problem, similar to [36]. When considering the experimental setup, we refer to two reference frames, {a} and {b}; O a is the local Earth-fixed coordinate frame's stationary origin {a}, and O b is the platform's body-fixed frame's moving origin {b}.…”

Section: Problem Formulation 21 Force Allocationmentioning

confidence: 99%

“…is the preferred load vector dependent on application specific factors such as actuator technology, cable properties, safety concerns, and operating conditions. The cost function has beneficial properties, as shown in [36]. Figure 6 shows the resulting ReaTHM testing loop coupling the two substructures.…”

Section: Problem Formulation 21 Force Allocationmentioning

confidence: 99%

“…Although Procedure 1 is not restricted to a specific cost function, as stated earlier, we propose to reuse the cost function presented in (5). See [36], for guidelines on determining its parameters.…”

Section: Actuator Tension Constraints and Cost Functionmentioning

confidence: 99%

“…. As elaborated in [36], given some necessary assumptions, at the solution to (8), the following conditions are satisfied.…”

Section: Conflicts Of Interestmentioning

confidence: 99%

“…The underlying solver described in [36] finds z using Newtons iterations. Once z is found, it is numerically cheap to find the terms of (8) as outlined next.…”

Section: Conflicts Of Interestmentioning

confidence: 99%

See 4 more Smart Citations

Optimal Actuator Placement for Real-Time Hybrid Model Testing Using Cable-Driven Parallel Robots

Ueland

Sauder

Skjetne

2021

JMSE

Self Cite

View full text Add to dashboard Cite

In real-time hybrid model testing, complex ocean structures are emulated by fusing numerical modelling with traditional hydrodynamic model testing. This is done by partitioning the ocean structure under consideration into a numerical and a physical substructure, coupled in real time via a measurement and control interface. The numerically computed load vector is applied to the physical substructure by means of multiple actuated winches so that the resulting experimental platform becomes a type of cable-driven parallel robot. In this context, the placement of the actuated winches is important to ensure that the loads can be accurately and robustly transferred to the physical substructure. This paper addresses this problem by proposing a performance measure and an associated actuator placement procedure that enables accurate force tracking and ensures that the numerically calculated loads can be actuated throughout the testing campaign. To clarify the application of the proposed procedure, it is applied to the design of a test setup for a moored barge. Overall, the paper represents a guideline for robust and beneficial actuator placement for real-time hybrid model testing using cable-driven parallel robots for load-actuation.

show abstract

Section: Problem Formulation 21 Force Allocationmentioning

confidence: 99%

Section: Problem Formulation 21 Force Allocationmentioning

confidence: 99%

Section: Actuator Tension Constraints and Cost Functionmentioning

confidence: 99%

“…. As elaborated in [36], given some necessary assumptions, at the solution to (8), the following conditions are satisfied.…”

Section: Conflicts Of Interestmentioning

confidence: 99%

“…The underlying solver described in [36] finds z using Newtons iterations. Once z is found, it is numerically cheap to find the terms of (8) as outlined next.…”

Section: Conflicts Of Interestmentioning

confidence: 99%

See 3 more Smart Citations