Pulleys and Force Sensors Influence on Payload Estimation of Cable-Driven Parallel Robots

The subject of this paper is about the use of a suspended Cable-Driven Parallel Robot (CDPR) for pick-and-place operations of heavy and heterogeneous objects. The knowledge of the payload mass and its center of mass in realtime is an asset for robust control of the device, which is required to ensur...

Full description

Saved in:
Bibliographic Details
Published in:2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 1429 - 1436
Main Authors: Picard, Etienne, Caro, Stephane, Claveau, Fabien, Plestan, Franck
Format: Conference Proceeding
Language:English
Published: IEEE 01.10.2018
Subjects:
Estimation
Mechanical cables
Payloads
Prototypes
Pulleys
Robots
Trajectory
ISSN:2153-0866
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The subject of this paper is about the use of a suspended Cable-Driven Parallel Robot (CDPR) for pick-and-place operations of heavy and heterogeneous objects. The knowledge of the payload mass and its center of mass in realtime is an asset for robust control of the device, which is required to ensure a good stability, especially when the objects have different shapes, sizes and masses. Accordingly, this paper aims at experimentally evaluating the effects of (i) the pulleys modeling and (ii) the use of force sensors for the payload estimation. It turns out that the consideration of the pulleys into the geometric model of the robot improves the mass and center of mass estimations of the payload. A comparison is made between the estimation of cable tensions from force sensors and from motor currents. Finally, a torque controller with a feedforward term for real-time mass compensation is proposed and implemented on a CDPR prototype.
ISSN:2153-0866
DOI:10.1109/IROS.2018.8594171