Name
Title | ||
|---|---|---|
Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches. |
Abstract | ||
|---|---|---|
An alternative approach to standard computed torque with feedback linearization is proposed in this paper to control cable-driven parallel robots (CDPRs) with highly flexible cables. Exteroceptive feedback is used to measure the end-effector Cartesian position at a high sampling rate. Stability is demonstrated using singular perturbation theory. The proposed control scheme is experimentally validated on a planar 3-degree-of-freedom CDPR and its efficiency is assessed by comparison with a simple kinematic control law. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/TRO.2018.2875415 | IEEE Trans. Robotics |
Keywords | Field | DocType |
End effectors,Aerospace electronics,Winches,Vibrations,Power cables,Torque | Parallel manipulator,Torque,Kinematics,Control theory,Feedback linearization,Control engineering,Robot end effector,Singular perturbation,Winch,Mathematics,Cartesian coordinate system | Journal |
Volume | Issue | ISSN |
35 | 1 | 1552-3098 |
Citations | PageRank | References |
2 | 0.36 | 7 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jeremy Begey | 1 | 2 | 0.36 |
| Loïc Cuvillon | 2 | 34 | 7.47 |
| Maximilien Lesellier | 3 | 2 | 0.36 |
| Marc Gouttefarde | 4 | 84 | 12.04 |
| Jacques Gangloff | 5 | 187 | 24.35 |