Dual-Space Adaptive Control of Redundantly Actuated Cable-Driven Parallel Robots - Archive ouverte HAL Access content directly
Conference Papers Year : 2013

Dual-Space Adaptive Control of Redundantly Actuated Cable-Driven Parallel Robots

(1) , (1) , (1) , (1)
1

Abstract

Cable-driven parallel robots (CDPR) are efficient manipulators able to carry heavy payloads across large workspaces. Therefore, the dynamic parameters such as the mobile platform mass and center of mass location may considerably vary. Without any adaption, the erroneous parametric estimate results in mismatch terms added to the closed-loop system, which may decrease the robot performances. In this paper, we introduce an adaptive dual-space motion control scheme for CDPR. The proposed method aims at increasing the robot tracking performances, while keeping all the cable tensed despite uncertainties and changes in the robot dynamic parameters. Reel-time experimental tests, performed on a large redundantly actuated CDPR prototype, validate the efficiency of the proposed control scheme. These results are compared to those obtained with a non-adaptive dual-space feedforward control scheme.
Fichier principal
Vignette du fichier
0642.pdf (1.79 Mo) Télécharger le fichier
Origin : Publisher files allowed on an open archive
Loading...

Dates and versions

lirmm-01221399 , version 1 (28-10-2015)

Identifiers

Cite

Johann Lamaury, Marc Gouttefarde, Ahmed Chemori, Pierre-Elie Hervé. Dual-Space Adaptive Control of Redundantly Actuated Cable-Driven Parallel Robots. IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.4879-4886, ⟨10.1109/IROS.2013.6697060⟩. ⟨lirmm-01221399⟩
242 View
461 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More