Tip-trajectory tracking control of a deployable cable-driven robot via output redefinition
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Tip-trajectory tracking control of a deployable cable-driven robot via output redefinition S.A. Khalilpour1 · R. Khorrambakht1 · H. Damirchi1 · H.D. Taghirad1 · P. Cardou2
Received: 2 February 2020 / Accepted: 16 October 2020 © Springer Nature B.V. 2020
Abstract Large-scale deployable cable-driven robots face a lack of kinematic precision, and the cable dynamics impose considerable challenges in terms of controller design. The problem’s complexity increases because a deployable robot may not exploit expensive and highly accurate of measurement devices. Thus, it is necessary to efficiently combine the set of measurements available through low-cost sensors to track the end-effector’s position and reduce the oscillations. This paper’s main contribution is to propose a novel feedback method for fusing the vision and joint kinematic sensors for achieving suitable tracking performance. To this end, the dynamic formulation of a large-scale deployable cable-driven robot has been derived considering a lumped mass model for the cables. Based on this model, it is then shown that the stability conditions are satisfied through a suitable combination of sensory data incorporated into the control law. Finally, the performance for the proposed controller has been illustrated using the experimental results on a deployable suspended cable-driven robot showing the effectiveness of the proposed methodology regardless of the underlying system uncertainties. Keywords Uncertain Jacobian · Cable-driven parallel manipulator · Passivity based control · Sliding mode control · Output redefinition
1 Introduction A cable-driven parallel manipulator (CDPM) is a robot whose end-effector is controlled by winding and unwinding independent cables connecting it to the fixed base [1–3]. There are several advantages for these robots, including large workspace, high agility, and simple
B H.D. Taghirad
[email protected]
1
Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence (ICCE), Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran
2
Department of Mechanical Engineering, Robotics Laboratory, Laval University, Quebec City, QC G1V 0A6, Canada
S.A. Khalilpour et al.
mechanical structures. Quick and easy deployment of cable-driven parallel robots was first proposed in [4–6]. Owing to their advantages, these classes of robots are suitable for many real-world applications, such as rescue missions [7] and automated farming [4]. The exact kinematic parameters for deployable suspended cable-driven robots (DSCRs) are generally unavailable. These inaccuracies induce many challenges in the process of designing a controller with suitable performance [8–10]. Despite these inaccuracies, these robots are suitable choices for many applications, where excellent precision is not required [11]. One example of such applications is sports field imaging. Developed by the ARAS research group, ARAS-CAM is a deployable DSCR designed explicitly for imaging applications. Even though cabl
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