scholarly journals Robust Modeling and Control Issues of Parallel Manipulators with Actuation Redundancy

10.5772/18240 ◽  
2011 ◽  
Author(s):  
Andreas Mueller
Keyword(s):  
Parallel Manipulators ◽  
Modeling And Control ◽  
Robust Modeling ◽  
Actuation Redundancy ◽  
And Control

Modeling and Control of a Cable-Driven Robot for Inspection of Wide-Area Horizontal Workspaces

2016 ◽  
Author(s):  
Forrest Montgomery ◽  
Joshua Vaughan
Keyword(s):  
Parallel Manipulator ◽  
Large Scale ◽  
Parallel Manipulators ◽  
End Effector ◽  
Modeling And Control ◽  
Oscillatory Dynamics ◽  
Flexible Wire ◽  
Length Changes ◽  
Stiffness And Damping ◽  
And Control

Cable Driven Parallel Manipulators (CDPMs) utilize flexible wire to actuate an end-effector, allowing rapid accelerations across large workspaces. CDPMs are predominantly modeled with rigid cables, greatly simplifying the analysis. This model is satisfactory for small, fixed masses traveling short distances. However, as cable length increases, the flexibility of the cables, including the variation in stiffness and damping as length changes, cannot be ignored. In addition, the end-effector, which may be modeled as a pendulum, will rotate and contribute to the motion. This paper presents the modeling and control of a large-scale, cable-driven parallel manipulator, with application to inspection of large workspaces. The multi-degree-of-freedom model developed takes into account flexibility of cables and the oscillatory dynamics of the end effector. The dominant dynamics are identified and used to design a control system to limit vibration.

DYNAMIC ANALYSIS AND CONTROL OF CABLE DRIVEN ROBOTS WITH ELASTIC CABLES

2011 ◽  
Vol 35 (4) ◽  
pp. 543-557 ◽  
Author(s):  
Mohammad A. Khosravi ◽  
Hamid D. Taghirad
Keyword(s):  
Control Algorithm ◽  
Closed Loop ◽  
Parallel Manipulators ◽  
Lyapunov Theorem ◽  
Closed Loop System ◽  
Modeling And Control ◽  
Internal Forces ◽  
And Control ◽  
Flexible Cables ◽  
Elastic Cables

In this paper modeling and control of cable driven redundant parallel manipulators with flexible cables, are studied in detail. Based on new results, in fully constrained cable robots, cables can be modeled as axial linear springs. Considering this assumption the system dynamics formulation is developed using Lagrange approach. Since in this class of robots, all the cables should remain in tension for the whole workspace, the notion of internal forces are introduced and incorporated in the proposed control algorithm. The control algorithm is developed in cable coordinates in which the internal forces play an important role. Finally, asymptotic stability of the closed loop system is analyzed through Lyapunov theorem, and the performance of the proposed algorithm is studied by simulations.

Modeling and Control of Winding Hybrid-Driven Based Cable-Parallel Manipulator

2013 ◽  
Vol 373-375 ◽  
pp. 111-115 ◽  
Author(s):  
Hui Hui Sun ◽  
Bin Zi ◽  
Sen Qian
Keyword(s):  
Fuzzy Control ◽  
Parallel Manipulator ◽  
Adaptive Fuzzy Control ◽  
Parallel Manipulators ◽  
Kinematics And Dynamics ◽  
Friction Compensation ◽  
Lagrange Method ◽  
Modeling And Control ◽  
Adaptive Fuzzy ◽  
And Control

This paper deals with modeling and adaptive fuzzy control of winding hybrid-driven cable parallel manipulator (WHDCPM). The WHDCPM has the advantages of both the traditional cable-parallel manipulator (CPM) and hybrid-driven based cable-parallel manipulator (HDCPM) since the hybrid-driven planar five-bar mechanism in HDCPM is replaced by winding hybrid-driven five-bar manipulator in WHDCPM. The physical architecture of WHDCPM is determined, and kinematics and dynamics of the cable parallel manipulators have been studied based on Lagrange method. The numerical simulation is demonstrated as an example with adaptive fuzzy control theory, and the diagrams of trajectory tracking, cable tension, friction compensation and motor torque are shown, respectively. The results demonstrate the feasibility and superiority of the WHDCPM.

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