Constant Distance and Orientation Following of an Unknown Surface with a Cable-Driven Parallel Robot

Cable-Driven Parallel Robots (CDPRs) are well-adapted to large workspaces since they replace rigid links by cables. However, they lack in positioning accuracy and new control methods are necessary to achieve profile-following tasks. This paper presents a control scheme designed for these tasks, rely...

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Bibliographic Details
Published in2023 IEEE International Conference on Robotics and Automation (ICRA) pp. 762 - 768
Main Authors Rousseau, Thomas, Pedemonte, Nicolo, Caro, Stephane, Chaumette, Francois
Format Conference Proceeding
LanguageEnglish
Published IEEE 29.05.2023
Subjects
Cameras
Interference
Parallel robots
Redundancy
Robot vision systems
Ultrasonic imaging
Visualization
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Summary:Cable-Driven Parallel Robots (CDPRs) are well-adapted to large workspaces since they replace rigid links by cables. However, they lack in positioning accuracy and new control methods are necessary to achieve profile-following tasks. This paper presents a control scheme designed for these tasks, relying on a combination of accurate boarded distance sensors and of a less accurate remote camera. The profile-following task is divided into two subtasks that are partially conflicting: maintaining a parallel orientation and a constant distance with the surface to follow, and following a trajectory between two points on the surface. The data fusion to solve the redundancy is based on the Gradient Projection Method. This control scheme is validated experimentally on a CDPR prototype and shown to provide the expected behaviour.
DOI:10.1109/ICRA48891.2023.10160308