Control of a Large Redundantly Actuated Cable-Suspended Parallel Robot

Johann Lamaury 1 Marc Gouttefarde 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with the control of a 6-DOF cable-suspended parallel robot (CSPR) able to perform tasks such as pick-and-place trajectories over a large workspace. In order to maximize the ratio between the robot workspace and its overall dimensions, actuation redundancy can be used. The control of such a redundantly actuated CSPR turns to be challenging as a realtime embeddable algorithm for distributing the cable tensions should be used, together with a suitable control scheme. This paper proposes a computationally efficient tension distribution algorithm implemented within a dual-space feedforward scheme in order to properly control the moving platform. Experimentations are performed on a large 6-DOF CSPR prototype equipped with 8 actuators.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany. IEEE, pp.4644-4649, 2013, 〈http://www.icra2013.org/〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00841668
Contributeur : Marc Gouttefarde <>
Soumis le : vendredi 5 juillet 2013 - 13:39:11
Dernière modification le : jeudi 24 mai 2018 - 15:59:21

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  • HAL Id : lirmm-00841668, version 1

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Johann Lamaury, Marc Gouttefarde. Control of a Large Redundantly Actuated Cable-Suspended Parallel Robot. ICRA: International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany. IEEE, pp.4644-4649, 2013, 〈http://www.icra2013.org/〉. 〈lirmm-00841668〉

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