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.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00841668
Contributor : Marc Gouttefarde <>
Submitted on : Friday, July 5, 2013 - 1:39:11 PM
Last modification on : Monday, December 17, 2018 - 10:50:04 AM

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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. pp.4644-4649. ⟨lirmm-00841668⟩

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