Coordinated Dynamic Control in the Task Space for Redundantly Actuated Cable-Driven Parallel Robots

Although cable-driven parallel robots (CDPRs) act as parallel mechanisms that are driven by multiple cables coordinately, the coordination motion analysis is often omitted. Therefore, the coordination effect in the task space (TS) of redundantly actuated CDPRs is addressed in this article, and a sch...

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Vydáno v:IEEE/ASME transactions on mechatronics Ročník 26; číslo 5; s. 2396 - 2407
Hlavní autoři: Zhang, Bin, Shang, Weiwei, Cong, Shuang, Li, Zhijun
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York IEEE 01.10.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Actuation
Aerospace electronics
Cable robot
Cables
Control stability
coordinated control
Coordination
Disturbances
Dynamic control
Kinematics
motion control
parallel robot
Power cables
Redundancy
Robot kinematics
Robots
Robustness
Stability analysis
Synchronization
Task analysis
Task space
Tracking
ISSN:1083-4435, 1941-014X
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Shrnutí:Although cable-driven parallel robots (CDPRs) act as parallel mechanisms that are driven by multiple cables coordinately, the coordination motion analysis is often omitted. Therefore, the coordination effect in the task space (TS) of redundantly actuated CDPRs is addressed in this article, and a scheme of the coordinated dynamic control in the TS (CDCT) is proposed to guarantee high-precision control. Additionally, to handle the inevitable external disturbances, the robust analysis is also synthesized in the CDCT scheme, and the stability of the whole control system is proved. Moreover, due to the existing actuation redundancy, the cable tension distribution method is presented to ensure that all cables are always kept in tension. Trajectory tracking experiments are carried out on the redundantly actuated CDPR, and the augmented PD (APD) scheme without coordination and robust effect and the CDCT scheme without robust effect (CDCT-wR) are used for comparisons. The results show that, there is a significant effect of the coordinated control with a better coordination performance by using the CDCT scheme, and the final tracking accuracy has an evident improvement. Besides, the satisfactory robustness of the CDCT scheme in resisting external disturbances is also verified via supplementary experiments.
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ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2020.3038852