Study on the design and control method of a wire-driven waist rehabilitation training parallel robot

Wang, Yuqi; Cao, Jinjiang; Geng, Ranran; Zhou, Lei; Wang, Lei

doi:10.1017/s0263574722000376

Cited by 4 publications

(2 citation statements)

References 25 publications

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“…[12]. They can be used as motion simulators [13], large-scale telescope orientation [14], large-scale camera systems [15], and construction [16], to name just a few examples even with applications to industrial scenarios as reported in [17][18][19]. CDPRs have been successfully implemented also in medical applications such as for assisting post-stroke or paraplegia patients such as reported for example in refs.…”

Section: Introductionmentioning

confidence: 99%

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

Khadem,

Inel,

Carbone

et al. 2023

Robotica

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This paper presents a novel cable-driven parallel robot with the aim of rehabilitating/exercising young and disabled children in drawing and writing tasks. The pyramidal topology was identified as providing the required three active translational Degrees of Freedom with a redundant set of five cables in a compact portable shape. In addition, this robot was designed with new features, as it is inexpensive, easy to control, easy to move to any place at home or school as it is fitting a home desk or classroom table. In this paper, we present the main steps for designing the proposed cable-driven pyramidal parallel robot. Specific attention is addressed to the design of the structure and the end effector as well as to establishing proper simulation models. Several simulations are proposed by implementing both kinematic and dynamic models to demonstrate the feasibility of multiple writing/drawing tasks. A specific user interface is proposed allowing both continuous and intermittent trajectories. A sliding mode control is implemented to achieve suitable tracking accuracy on a desired path. Finally, an experimental validation is successfully carried out by considering multiple trajectories for demonstrating the engineering feasibility and effectiveness of the proposed design and simulation models.

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Section: Introductionmentioning

confidence: 99%

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

Khadem,

Inel,

Carbone

et al. 2023

Robotica

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show abstract

“…However, it still needs further improvement in multiple constraints and efficiency. Recently, artificial neural networks have been used to solve the inverse kinematics problem for robotic arms [26][27][28]. The size of the training set will vary significantly with the number of degrees of freedom, and the solution is very inefficient on a continuum robotic arm with super-redundant degrees of freedom.…”

Section: Introductionmentioning

confidence: 99%

Shape-controllable inverse kinematics of hyper-redundant robots based on the improved FABRIK method

Niu,

Han,

Huang

et al. 2023

Robotica

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Hyper-redundant robots have good prospects for applications in confined space due to their high flexibility and slim body size. However, the super-redundant structure brings great challenges for its inverse kinematics with shape constraints. Unfortunately, traditional Jacobian pseudo-inverse-based inverse kinematics method and forward and backward reaching inverse kinematics (FABRIK) method are difficult to constrain the arm shape and realize trajectory tracking in confined spaces. To solve this problem, we propose a shape-controllable FABRIK method to satisfy the given path and shape constraints. Firstly, the kinematic model of the hyper-redundant robot is established, and the canonical FABRIK method is introduced. Based on the preliminary works, the single-layer improved FABRIK method is developed to solve the position and pointing inverse kinematics considering path environment and joint angle constraints instead of two-layer geometric iterations. For tracking the desired end roll angles, the polygonal virtual arm is designed. The real arm roll angle is achieved by controlling its winding on the virtual arm. In this way, the shape can be controlled. Finally, we compare the proposed method with other three approaches by simulations. Results show that the proposed method is more efficient and the arm shape is controllable.

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Model-free adaptive robust control based on TDE for robot with disturbance and input saturation

2023

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A model-free adaptive robust control based on time delay estimation (TDE) is proposed for robot in the presence of disturbance and input saturation. TDE is utilized to estimate the complicated nonlinear terms of the robot including unknown dynamics and disturbance, and a TDE error observer is developed to estimate the inevitable TDE error. When the input torque of the robot exceeds the upper or lower limit of the input saturation, an auxiliary system and a saturation deviation boundary adaptive law are employed to mitigate the negative impact of input saturation on the position tracking. Finally, the robust control law is obtained by backstepping. The stability of the closed-loop system is proved by Lyapunov functions, and the validity of the proposed method is demonstrated by comparative simulations and experiments. Compared with the model-based controllers and other model-free controllers, the proposed method does not necessitate the accurate dynamic model of the complicated system and with lower computation. Moreover, it can guarantee the desired position tracking performance of the robot even subject to disturbance and input saturation simultaneously.

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Study on the design and control method of a wire-driven waist rehabilitation training parallel robot

Cited by 4 publications

References 25 publications

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

Shape-controllable inverse kinematics of hyper-redundant robots based on the improved FABRIK method

Model-free adaptive robust control based on TDE for robot with disturbance and input saturation

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