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

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.

Mots clés

Parallel robots Dynamics Flexible cables Singular perturbation Motion control

Domaines

Automatique / Robotique

Fichier principal

Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches_preprint.pdf (971.23 Ko)

Origine	Fichiers produits par l'(les) auteur(s)

Marc Gouttefarde-Tanich : Connectez-vous pour contacter le contributeur

https://hal-lirmm.ccsd.cnrs.fr/lirmm-02087410

Soumis le : lundi 2 décembre 2019-14:11:02

Dernière modification le : jeudi 11 avril 2024-13:08:14

Archivage à long terme le : mardi 3 mars 2020-21:01:15

Dates et versions

lirmm-02087410 , version 1 (02-12-2019)

lirmm-02087410 , version 2 (12-01-2021)

Identifiants

HAL Id : lirmm-02087410 , version 1
DOI : 10.1109/TRO.2018.2875415

Citer

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, 2019, 35 (1), pp.286-293. ⟨10.1109/TRO.2018.2875415⟩. ⟨lirmm-02087410v1⟩

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