Paper Info
Title
Dual-space adaptive control of redundantly actuated cable-driven parallel robots
Abstract
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.
Year
DOI
Venue
2013
10.1109/IROS.2013.6697060
Intelligent Robots and Systems
Keywords
Field
DocType
adaptive control,aerospace robotics,closed loop systems,feedback,manipulators,motion control,adaptive dual-space motion control scheme,center of mass location,closed-loop system,dual-space adaptive control,erroneous parametric estimate,manipulators,mobile platform mass,nonadaptive dual-space feedforward control scheme,redundantly actuated cable-driven parallel robots,robot dynamic parameters,robot tracking performances
Parallel manipulator,Robot control,Motion control,Workspace,Computer science,Simulation,Control theory,Control engineering,Parametric statistics,Adaptive control,Robot,Feed forward
Conference
ISSN
Citations 
PageRank 
2153-0858
10
0.71
References 
Authors
13
4
Name
Order
Citations
PageRank
Johann Lamaury1252.64
Marc Gouttefarde28412.04
Ahmed Chemori37318.24
Pierre-Elie Herve4100.71