Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches
Résumé
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.
Domaines
Automatique / Robotique
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Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches_preprint_11012021.pdf (973.6 Ko)
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