Model Predictive Control of Cable-Driven Parallel Robot with Cable Sagging: an Assumed Mode Approach

Cable-Driven Parallel Robots (CDPRs) are a type of parallel robots that uses cables to position a moving platform inside its workspace. The cables offer many advantages from an operational point of view, from increasing the size of the workspace to handling heavy loads. However, they raise an issue...

Celý popis

Uloženo v:
Podrobná bibliografie
Vydáno v:International Conference on System Theory, Control and Computing s. 533 - 538
Hlavní autoři: Moussa, Karim, Vie, Antoine, Thieffry, Maxime, Claveau, Fabien, Chevrel, Philippe
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: IEEE 10.10.2024
Témata:
Assumed Mode Approach
Cable Sagging
Cables
CDPR
Computational modeling
Control systems
Load modeling
Model Predictive Control
Parallel robots
Predictive control
Predictive models
Three-dimensional displays
Tuning
ISSN:2473-5698
On-line přístup:Získat plný text
Tagy: Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
Abstract Cable-Driven Parallel Robots (CDPRs) are a type of parallel robots that uses cables to position a moving platform inside its workspace. The cables offer many advantages from an operational point of view, from increasing the size of the workspace to handling heavy loads. However, they raise an issue in modeling their complex physical behavior. Simplifying hypotheses are usually made to facilitate the incorporation of a model in the control law in certain operational conditions, such as straight and massless cables. In this work, a Quasi-Linear Model Predictive Control (QLMPC) is presented based on a flexible cable model and is tested on some challenging scenarios. The cable model is based on the assumed mode approach. A comparison in simulation is made with a model predictive control based on a straight and inelastic cable for an eight-cables 3D suspended CDPR.
AbstractList Cable-Driven Parallel Robots (CDPRs) are a type of parallel robots that uses cables to position a moving platform inside its workspace. The cables offer many advantages from an operational point of view, from increasing the size of the workspace to handling heavy loads. However, they raise an issue in modeling their complex physical behavior. Simplifying hypotheses are usually made to facilitate the incorporation of a model in the control law in certain operational conditions, such as straight and massless cables. In this work, a Quasi-Linear Model Predictive Control (QLMPC) is presented based on a flexible cable model and is tested on some challenging scenarios. The cable model is based on the assumed mode approach. A comparison in simulation is made with a model predictive control based on a straight and inelastic cable for an eight-cables 3D suspended CDPR.
Author Moussa, Karim
Thieffry, Maxime
Claveau, Fabien
Vie, Antoine
Chevrel, Philippe
Author_xml – sequence: 1
  givenname: Karim
  surname: Moussa
  fullname: Moussa, Karim
  email: karim.moussa@irt-jules-verne.fr
  organization: Nantes Université,IMT Atlantique, IRT Jules Verne, LS2N, UMR CNRS 6004,Nantes,France,F-44000
– sequence: 2
  givenname: Antoine
  surname: Vie
  fullname: Vie, Antoine
  email: antoine.vie@imt-atlantique.fr
  organization: Nantes Université,École Centrale Nantes, IMT Atlantique, CNRS, LS2N, UMR 6004,Nantes,France,F-44000
– sequence: 3
  givenname: Maxime
  surname: Thieffry
  fullname: Thieffry, Maxime
  email: maxime.thieffry@imt-atlantique.fr
  organization: Nantes Université,École Centrale Nantes, IMT Atlantique, CNRS, LS2N, UMR 6004,Nantes,France,F-44000
– sequence: 4
  givenname: Fabien
  surname: Claveau
  fullname: Claveau, Fabien
  email: fabien.claveau@imt-atlantique.fr
  organization: Nantes Université,École Centrale Nantes, IMT Atlantique, CNRS, LS2N, UMR 6004,Nantes,France,F-44000
– sequence: 5
  givenname: Philippe
  surname: Chevrel
  fullname: Chevrel, Philippe
  email: philippe.chevrel@imt-atlantique.fr
  organization: Nantes Université,École Centrale Nantes, IMT Atlantique, CNRS, LS2N, UMR 6004,Nantes,France,F-44000
BookMark eNo1kMtOwkAYhUejiYi8gYvxAYr_XDoXd2REJcFIBNdkpv0LNaVDplXj24tBz-YkJ1--xbkkZ21skZAbBmPGwN7O3HLlnOKW8TEHLscMtJSaqxMystoakYNQkltxSgZcapHlypoLMuq6dwAQTB9iBqR8jiU2dJGwrIu-_kTqYtun2NBYUedDg9l9OswtXfjkm-bAvsYQe_pV99sjQJd-s6nbzR31LZ103ccOS_qrpZP9PkVfbK_IeeWbDkd_PSRvD9OVe8rmL48zN5lnW65Yn2llRKh8aZVWeaURrLF5ZX0RwGgFxhQSA-baYpAgOQcwAgsZMHCEnIEYkuujt0bE9T7VO5--1__HiB-LrVmP
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/ICSTCC62912.2024.10744726
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Xplore POP ALL
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE/IET Electronic Library
  url: https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Computer Science
EISBN 9798350364293
EISSN 2473-5698
EndPage 538
ExternalDocumentID 10744726
Genre orig-research
GroupedDBID 6IE
6IF
6IK
6IL
6IN
AAJGR
ABLEC
ADZIZ
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
CHZPO
IEGSK
IPLJI
OCL
RIE
RIL
ID FETCH-LOGICAL-h261t-7683bfad96765f7e09895f9acb0876088c4ebe579eb404220083ec4beb2e05103
IEDL.DBID RIE
ISICitedReferencesCount 1
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=001440908400087&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
IngestDate Wed Aug 27 03:05:32 EDT 2025
IsDoiOpenAccess false
IsOpenAccess true
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-h261t-7683bfad96765f7e09895f9acb0876088c4ebe579eb404220083ec4beb2e05103
OpenAccessLink https://hal.science/hal-04981401
PageCount 6
ParticipantIDs ieee_primary_10744726
PublicationCentury 2000
PublicationDate 2024-Oct.-10
PublicationDateYYYYMMDD 2024-10-10
PublicationDate_xml – month: 10
  year: 2024
  text: 2024-Oct.-10
  day: 10
PublicationDecade 2020
PublicationTitle International Conference on System Theory, Control and Computing
PublicationTitleAbbrev ICSTCC
PublicationYear 2024
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0003177778
Score 1.8930658
Snippet Cable-Driven Parallel Robots (CDPRs) are a type of parallel robots that uses cables to position a moving platform inside its workspace. The cables offer many...
SourceID ieee
SourceType Publisher
StartPage 533
SubjectTerms Assumed Mode Approach
Cable Sagging
Cables
CDPR
Computational modeling
Control systems
Load modeling
Model Predictive Control
Parallel robots
Predictive control
Predictive models
Three-dimensional displays
Tuning
Title Model Predictive Control of Cable-Driven Parallel Robot with Cable Sagging: an Assumed Mode Approach
URI https://ieeexplore.ieee.org/document/10744726
WOSCitedRecordID wos001440908400087&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LS8NAEB60iHiqj4pvVvC6faSb3aw3iRa9lGIr9FZ2k1kVSiIx9fe7k6QVDx7MKYRNWHbIzM7sfN8HcOPQh3UnDUcjkAvjJDdmaLi12vYlia4aU4lNqPE4ms_1pAGrV1gYRKyaz7BLt9VZfponKyqV9ah5UKhAbsO2UqoGa20KKj4Q-ivaheuGR7P3FE9ncSwDPSDEVSC66_d_KalUgWTU_ucU9qHzA8ljk02wOYAtzA6hvdZkYM0vegQpiZst_VA6gCFXxuK6GZ3ljsWEk-L3BXk4NjEF6ags2XNu85JRQbYewKaGytCvt8xkzJvPTyll9Fl21xCQd-Bl9DCLH3mjpMDffIZUcp9TDK0zqZZKhk5hX0c6dNoklhjpvKNJhDdmqDRaQaRgtDHDRFifdmPFuXcMrSzP8ASYlTbQiUMiVhdRqI3f8KJA1EGYmlS5U-jQqi0-arKMxXrBzv54fg57ZBsKB4P-BbTKYoWXsJN8le-fxVVl4m-fo6fL
linkProvider IEEE
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LS8NAEB60inqqj4pvV_C6tU03j_Um0dJiLcVW6K3sJrMqlERi6u93J0krHjyYUwjLsuyQmZ3Z-b4P4NqgDevGUxyVQC6U8bhSHcW1lrrlkeiqUoXYhD8cBtOpHFVg9QILg4hF8xk26bW4y4_TaEGlshtqHhS-463DhiuE0y7hWquSig2F9gm24Kpi0rzph-NJGHqObBPmyhHN5Qy_tFSKUNKt_3MRu9D4AeWx0Src7MEaJvtQX6oysOonPYCY5M3mdihdwZAzY2HZjs5Sw0JCSvH7jHwcG6mMlFTm7DnVac6oJFsOYGNFhejXW6YSZg1olxQzmpbdVRTkDXjpPkzCHq-0FPibzZFybrOKjjYqlp7vucbHlgyka6SKNHHSWVcTCWtO15eoBdGC0dEMI6Ft4o0F694h1JI0wSNg2tOOjAwStboIXKnskRcFonTcWMW-OYYG7drso6TLmC037OSP75ew3Zs8DWaD_vDxFHbIThQc2q0zqOXZAs9hM_rK3z-zi8Lc34mvqxI
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=International+Conference+on+System+Theory%2C+Control+and+Computing&rft.atitle=Model+Predictive+Control+of+Cable-Driven+Parallel+Robot+with+Cable+Sagging%3A+an+Assumed+Mode+Approach&rft.au=Moussa%2C+Karim&rft.au=Vie%2C+Antoine&rft.au=Thieffry%2C+Maxime&rft.au=Claveau%2C+Fabien&rft.date=2024-10-10&rft.pub=IEEE&rft.eissn=2473-5698&rft.spage=533&rft.epage=538&rft_id=info:doi/10.1109%2FICSTCC62912.2024.10744726&rft.externalDocID=10744726