Active vibration control of cable-driven parallel robots
Résumé
A cable-driven parallel robot (CDPR) is a manipulator characterized by its end-effector (EE) being connected to the base by cables. An electric motor/winch system enables the adjustment of each cable length and tension. The primary drawback of cables lies in their low stiffness, resulting in end-effector vibrations along the trajectory. This study aims to manage EE vibrational response, not by directly controlling its degrees of freedom, but through active control of cable tensions. The contribution involves the collocated utilization of two types of actuator-sensor pairs for active control: piezoelectric transducers embedded on cables and electric motors with embedded measurements of their torques. The limitations and consequences of this integration are explored here. Motors are usually considered as low-frequency actuators. The challenge here is to optimize the dynamics of the motor/winch systems in order to achieve control. An analysis, both analytical and numerical, of integrating these control devices and their respective laws is conducted.
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