Elasto-Dynamic Model-Based Control of Non-Redundant Cable-Driven Parallel Robots - Archive ouverte HAL
Communication Dans Un Congrès Année : 2018

Elasto-Dynamic Model-Based Control of Non-Redundant Cable-Driven Parallel Robots

Résumé

This paper deals with a model-based feed-forward torque control strategy of non-redundant cable-driven parallel robots (CDPRs). The proposed feed-forward controller is derived from an inverse elasto-dynamic model of the CDPR to compensate for the dynamic and oscil-latory effects due to cable elasticity. A PID feedback controller ensures stability and disturbance rejection. Simulations confirm that tracking errors can be reduced by the proposed strategy compared to conventional rigid body model-based control.
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Dates et versions

hal-01757535 , version 1 (03-04-2018)

Identifiants

Citer

Sana Baklouti, Stéphane Caro, Eric Courteille. Elasto-Dynamic Model-Based Control of Non-Redundant Cable-Driven Parallel Robots. The 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Jun 2018, Rennes, France. ⟨10.1007/978-3-319-78963-7_31⟩. ⟨hal-01757535⟩
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