Rapid Computation of Optimally Safe Tension Distributions for Parallel Cable-Driven Robots

In this paper, we present a novel linear-program formulation that yields "optimally safe" (OS) tension distributions in parallel cable-driven robots by the introduction of a slack variable. The slack variable also enables explicit computation of a near-optimal, feasible starting point. Thi...

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Vydáno v:IEEE transactions on robotics Ročník 25; číslo 6; s. 1271 - 1281
Hlavní autoři: Borgstrom, P.H., Jordan, B.L., Sukhatme, G.S., Batalin, M.A., Kaiser, W.J.
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York, NY IEEE 01.12.2009
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Applied sciences
Arm
Cable tension distributions
Cables
Computation
Computational modeling
Computer science; control theory; systems
Computer simulation
Concurrent computing
Control theory. Systems
Distributed computing
Dynamical systems
Dynamics
Error correction
Exact sciences and technology
Formulations
Linear programming
Manipulator dynamics
Optimization
parallel cable-driven robots
Parallel robots
PD control
redundant robots
Robotics
Robots
Transmission line matrix methods
Validity
Cable
parallel cable-driven robots
parallel robots
Redundancy
Linkage mechanism
Parallel mechanism
Dynamical system
Cable tension distributions
Robotics
redundant robots
ISSN:1552-3098, 1941-0468
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Popis
Shrnutí:In this paper, we present a novel linear-program formulation that yields "optimally safe" (OS) tension distributions in parallel cable-driven robots by the introduction of a slack variable. The slack variable also enables explicit computation of a near-optimal, feasible starting point. This, in turn, enables rapid computation of the OS tension distributions. The formulation also contains a parameter that can be used to steer cable tensions toward desired regions of operation. We present static results from two simulated robotic systems that demonstrate the ability of our formulation to avoid tension limits. Simulated execution of highly dynamic trajectories on both systems demonstrates rapid-computation abilities. Furthermore, we present experimental results from a real robotic system that further validate the importance of safe tension distributions.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2009.2032957