Design and evaluation of disturbance observer algorithm for cable-driven parallel robots
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TECHNICAL PAPER
Design and evaluation of disturbance observer algorithm for cabledriven parallel robots Toan Nguyen Dinh1 • Jungwan Park2 • Kyoung-Su Park1 Received: 4 November 2019 / Accepted: 13 May 2020 Ó Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract Recently, a cable-driven parallel robots (CDPRs) has been applied to radio telescope as the accurate actuator, that is the five-hundred-meter aperture spherical telescope. It can be affected by the disturbances such as wind, earthquake and so on. Therefore, this paper developed a disturbance observer (DOB)-based control suitable for CDPR. The propose of the control is to reduce the effects of disturbance while the end-effectors maintains the same position even though the disturbance affects it. The key component of the DOB controller is a disturbance observer, which includes inverse nominal plant for each cable. So, a system identification test was carried out firstly. Then, the simulation and experiment were also carried out to evaluate the performance of the algorithm in CDPR. The results showed that the designed DOB algorithm could effectively reduce disturbances.
1 Introduction Cable-driven parallel robots (CDPRs) are parallel robots that use flexible cables to guide their end-effectors (EEs) through space. Due to the large workspace and relatively simple design, CDPRs have been widely used in academia and industry (Qian et al. 2018), in applications such as modular CDPRs (Seriani et al. 2016), multiple mobile cranes (Zi et al. 2015), cable-driven cameras (Tanaka et al. 1988) and radio telescope application (Meunier et al. 2009), notably, in a five-hundred-meter aperture spherical radio telescope (FAST) (Duan 1999; Nan 2006). CDPRs that operate in harsh environments can be affected by disturbances such as wind, earthquakes and so on. According to the studies by Nan et al. (2006) and Vogiatzis et al. (2004), wind loading is one of the critical parameters influencing the performance of large telescopes. It can affect both the flexible cable and feed cabin, leading to a deterioration in the performance of the control system, eventually making it unstable. Therefore, it is important to investigate how best to reduce the effects of disturbance in
& Kyoung-Su Park [email protected] 1
Gachon University, Seongnam, South Korea
2
Hyundai Motor, Namyang-eup, Hwaseong-si, Gyeonggi-do, South Korea
CDPRs, to widen their industrial applications and stabilize such systems. There are many aspects to consider when developing CDPRs, such as stability analysis of robots (Carricato and Merlet 2012), calculations relating to the workspace (Duan and Duan 2014; Heo et al. 2018) and trajectory planning, and the development of accurate position control algorithms (Schmidt and Pott 2017; Kang et al. 2019). However, for applicability to real robots, cable tension must be modelled accurately. There have been many studies on force control and analyses of friction in pulleys (Kraus et al. 2014; Choi et al. 2017). Kra
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