Analysis of interaction force of wire-based robot using variable wire rope tension control

In this paper, the objective is to analyze a robot system with consideration the different levels of wire rope tension for human-robot applications. In the controller design, dual disturbance observers with respect to two operation modes, namely the common mode and the differential mode are designed and applied for controlling wire rope tension and interaction force of human. The variable wire rope tension algorithm is proposed to change the mechanical bandwidth according to motion movements. The advantage points of the high mechanical bandwidth and low stiffness transmission are combined together. From the experimental results, the variable wire rope tension control is combined to give the best results on an experimental setup, for the rejection of the vibration effects and for the smooth interaction force.