Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches

Abstract : An alternative approach to standard computed torque with feedback linearization is proposed in this paper to control cable-driven parallel robots (CDPRs) with highly flexible cables. Exteroceptive feedback is used to measure the end-effector Cartesian position at a high sampling rate. Stability is demonstrated using singular perturbation theory. The proposed control scheme is experimentally validated on a planar 3-degree-of-freedom CDPR and its efficiency is assessed by comparison with a simple kinematic control law.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-02087410
Contributor : Marc Gouttefarde <>
Submitted on : Tuesday, April 2, 2019 - 9:35:05 AM
Last modification on : Wednesday, June 12, 2019 - 2:30:02 PM

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Jeremy Begey, Loic Cuvillon, Maximilian Lesellier, Marc Gouttefarde, Jacques Gangloff. Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches. IEEE Transactions on Robotics, IEEE, 2019, 35 (1), pp.286-293. ⟨10.1109/TRO.2018.2875415⟩. ⟨lirmm-02087410⟩

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