Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2019

Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot

Résumé

In Cable-Driven Parallel Robots (CDPRs) rigid links are substituted by flexible cables. This change in actuation allows for a large workspace with a high payload to weight ratio, among other appealing characteristics. However, the accuracy for such systems needs to be improved to truly outperform classical parallel robots. A possible and not yet well studied solution is the use of vision-based control for CDPRs. This paper deals with the stability analysis of such a control scheme with regard to uncertainties lying both in the analytical models and the experimental setup. Two CDPRs are analyzed as illustrative examples. The results obtained show the system's robustness with respect to uncertainties.
Fichier principal
Vignette du fichier
IEEE_RA-L_2019_HAL_Zake_Chaumette_Pedemonte_Caro.pdf (1.8 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01987856 , version 1 (29-01-2019)

Identifiants

Citer

Zane Zake, François Chaumette, Nicolò Pedemonte, Stéphane Caro. Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot. IEEE Robotics and Automation Letters, 2019, 4 (2), pp.1029-1036. ⟨10.1109/lra.2019.2893611⟩. ⟨hal-01987856⟩
335 Consultations
860 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More