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

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.

Domaines

Génie mécanique [physics.class-ph] Automatique / Robotique

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ROMANSY_2018_Baklouti_Caro_Courteille.pdf (763.78 Ko)

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Stéphane CARO : Connectez-vous pour contacter le contributeur

https://hal.science/hal-01757535

Soumis le : mardi 3 avril 2018-16:57:27

Dernière modification le : jeudi 17 octobre 2024-10:14:04

Dates et versions

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

Identifiants

HAL Id : hal-01757535 , version 1
DOI : 10.1007/978-3-319-78963-7_31

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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