DocumentCode :
2949747
Title :
Closed-loop control for a cable-driven parallel manipulator with joint angle feedback
Author :
Xiang Cui ; Weihai Chen ; Guilin Yang ; Yan Jin
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
fYear :
2013
fDate :
9-12 July 2013
Firstpage :
625
Lastpage :
630
Abstract :
This paper presents a closed-loop control scheme of the cable-driven parallel manipulator (CDPM) to improve control accuracy. The mentioned three degrees of freedom (3-DOF) CDPM has a spherical joint with self-measured property to overcome intrinsic default of CDPM because of cable flexibility. The spherical joint is constructed by three passive 1-DOF revolute joints, in which three rotary encoders are accommodated to measure joint angles. This self-feedback method can complete close-loop control of the proposed cable-driven spherical-joint platform without the supporting of external devices. The matched control algorithm has been derived from the inverse kinematic solution, which results in closed-loop control with joint angle feedback. Additionally through robustness analysis, the proposed control method has been demonstrated that it has tolerance for parameter errors. The experimental results demonstrate that the proposed closed-loop control method perform well on motion control of the 3-DOF CDPM.
Keywords :
cable jointing; closed loop systems; feedback; manipulator kinematics; motion control; robust control; 3-DOF CDPM; cable flexibility; cable-driven parallel manipulator; cable-driven spherical-joint platform; closed-loop control scheme; inverse kinematic solution; joint angle feedback; joint angle measurement; matched control algorithm; motion control; passive 1-DOF revolute joints; rotary encoders; self-feedback method; three degrees of freedom; Accuracy; Equations; Joints; Kinematics; Mathematical model; Power cables; Sensors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on
Conference_Location :
Wollongong, NSW
ISSN :
2159-6247
Print_ISBN :
978-1-4673-5319-9
Type :
conf
DOI :
10.1109/AIM.2013.6584162
Filename :
6584162
Link To Document :
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