Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles IEEE Transactions on Robotics Year : 2019

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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Dates and versions

lirmm-02087410 , version 1 (02-12-2019)
lirmm-02087410 , version 2 (12-01-2021)

Identifiers

Cite

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-02087410v2⟩
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