Title :
Coupled dynamics of flexible cables and rigid end-effector for a cable suspended robot
Author :
Zhang, Yuhong ; Agrawal, Sunil K. ; Piovoso, Michael J.
Author_Institution :
Delaware Univ., Newark, DE
Abstract :
An important application of cable-suspended robots is in long-reach manipulation tasks. The usual assumption of rigid cables is not valid in these situations. The flexibility of cables needs to be included during modeling of residual motion of the manipulator after a gross motion has been made. In this paper, we assume that a gross motion has already been made that brings the end-effector to its desired position. Vibrations still persist due to flexibility in cables about this desired configuration. The paper provides a model to relate the position and rotation of the end-effector and the input including the flexible cable dynamics. The derived input-output model for the system is a set of delay-differential equations. We then apply the delta flatness theory to calculate the control inputs applied by the actuators at the end of the ropes for given trajectories for the six degrees-of-freedom of the system. The approach is illustrated by mathematical simulation in this paper
Keywords :
control system analysis; delay-differential systems; end effectors; manipulator dynamics; manipulator kinematics; motion control; open loop systems; position control; cable suspended robot; coupled dynamics; delay-differential equations; delta flatness theory; end-effector position; end-effector rotation; flexible cable dynamics; flexible cables; gross motion; input-output model; manipulator dynamics; residual motion; rigid end-effector; vibrations; Cables; Delay; Equations; Kinematics; NIST; Orbital robotics; Parallel robots; Robotic assembly; Service robots; Trajectory;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657324
