Dual-space adaptive control of redundantly actuated cable-driven parallel robots

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 i...

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Bibliographic Details
Published in2013 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 4879 - 4886
Main Authors Lamaury, Johann, Gouttefarde, Marc, Chemori, Ahmed, Herve, Pierre-Elie
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2013
Subjects
Aerospace electronics
Feedforward neural networks
Joints
Mobile communication
Power cables
Vectors
Winches
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Summary: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.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2013.6697060