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...

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Veröffentlicht in:International Conference on System Theory, Control and Computing S. 533 - 538
Hauptverfasser: Moussa, Karim, Vie, Antoine, Thieffry, Maxime, Claveau, Fabien, Chevrel, Philippe
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 10.10.2024
Schlagworte:
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
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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
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  fullname: Vie, Antoine
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  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
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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...
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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
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