.png){kind=icon}
返回
Control-Based Tension Distribution Scheme for Fully Constrained Cable-Driven Robots
.png){kind=icon}
PRE
AI
DOI：10.1109/TIE.2021.3125657.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Control inputs of fully constrained cable-driven parallel robots (CDPRs) are constrained by the positiveness of the cables tension, as cables merely apply tensile forces. The positive tension distribution (PTD) in CDPRs is usually guaranteed with iterative optimization techniques, utilizing the redundant actuation of the CDPR. The iterative nature of the conventional PTD limits their real-time application since the worst-case computation time of the iterative methods is not predictable. In addition, optimization methods are prone to model uncertainties. This article addresses the PTD problem in the fully constrained CDPRs with a control viewpoint. In the proposed approach, the PTD algorithm is an integral part of the controller, which explicitly generates positive values for the cables tension. To this aim, a saturation-type function is coupled with the controller, and its effect is compensated using a nonlinear disturbance observer. The stability of the proposed control scheme is also investigated in detail through Lyapunov's second method, considering a nonsingular terminal sliding mode controller. Furthermore, the performance of the proposed methodology is compared with the conventional method for a six-degrees-of-freedom CDPR, in the presence of uncertainties. Finally, the effectiveness of the proposed control scheme is investigated through experiments.
Keyword:
Power cables
Robots
Optimization
MIMO communication
Force
Uncertainty
Jacobian matrices
Cable-driven parallel robots (CDPRs)
Lyapunov analysis
nonlinear disturbance observer (NDO)
robust control
期刊
IF:
7.2
论文数:
1.8W
被引数:
9.8W
机构
引用论文
Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics具有不确定运动学和动力学的机器人的跟踪控制
PREAI
分享收藏Cable suspended planar robots with redundant cables: Controllers with positive tensions具有冗余电缆的电缆悬挂平面机器人: 具有正张力的控制器
PREAI
分享收藏分享收藏Azacitidine Priming Prior to R-CHOP Is Feasible and Results in Global Demethylation, Restoration of TGF-Beta Pathway, and Improved Chemotherapy Sensitivity in Patients with Newly Diagnosed DLBCL.png)
Blood
BloodIF0
PREAI
分享收藏
查看更多内容