Cable suspended planar robots with redundant cables: controllers with positive tensions

Author

Oh, So-Ryeok ; Agrawal, Sunil K.

Author_Institution

Mech. Eng. Dept., Univ. of Delaware, Newark, DE, USA

Volume

21

Issue

3

fYear

2005

fDate

6/1/2005 12:00:00 AM

Firstpage

457

Lastpage

465

Abstract

Cable-suspended robots are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the end-effector but not push it. From a scientific point of view, this feature makes feedback control of cable-suspended robots more challenging than their counterpart parallel-actuated robots. In the case with redundant cables, feedback control laws can be designed to make all tensions positive while attaining desired control performance. This paper presents approaches to design positive tension controllers for cable suspended robots with redundant cables. Their effectiveness is demonstrated through simulations and experiments on a three degree-of-freedom cable suspended robots.

Keywords

control system synthesis; end effectors; feedback; industrial robots; mechanical variables control; redundant manipulators; suspensions (mechanical components); cable suspended planar robots; cable tension; feedback control; long-reach robotics; positive tension controller design; redundant cables; Actuators; Cranes; Feedback control; Inspection; Manufacturing industries; Multidimensional systems; NIST; Parallel robots; Power cables; Service robots; Cable-suspended planar parallel robot; positive cable tension; redundancy;

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2004.838029

Filename

1435490