TY - GEN
T1 - Dual-space adaptive control of redundantly actuated cable-driven parallel robots
AU - Lamaury, Johann
AU - Gouttefarde, Marc
AU - Chemori, Ahmed
AU - Herve, Pierre Elie
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84893731110
U2 - 10.1109/IROS.2013.6697060
DO - 10.1109/IROS.2013.6697060
M3 - Conference contribution
AN - SCOPUS:84893731110
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4879
EP - 4886
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -