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-02405573

Soumis le : mercredi 11 décembre 2019-17:36:15

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

Archivage à long terme le : jeudi 12 mars 2020-23:02:58

Dates et versions

hal-02405573 , version 1 (11-12-2019)

Identifiants

HAL Id : hal-02405573 , 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. In: Arakelian V., Wenger P. (eds) ROMANSY 22 - Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences (Courses and Lectures), Vol. 584, Springer, Cham., pp.238-246, 2019, ⟨10.1007/978-3-319-78963-7_31⟩. ⟨hal-02405573⟩

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