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Modeling, control and simulation of a new large scale cable-driven robot

Alikhani, A ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1115/DETC2009-86713
  3. Abstract:
  4. In this paper, modeling and control of a new cable-driven robot is presented. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motion. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this article kinematics and dynamics models for the proposed cable-driven architecture are derived. Additionally, Feedback linearization under input constraints is used for the control of the robot. The control algorithm ensures the cable tensions are positive while minimizing the sum of all the torques exerted by the actuators. Finally, the implementation of the proposed method is demonstrated through simulation. Copyright © 2009 by ASME
  5. Keywords:
  6. Cable driven robots ; Cable tension ; Cable-driven ; Harsh environment ; Input constraints ; Kinematics and dynamics ; Modeling and control ; Moving platform ; Rotational motion ; Translational motions ; Algorithms ; Cables ; Computer simulation ; Feedback linearization ; Machine design ; Robots ; Robotics
  7. Source: Proceedings of the ASME Design Engineering Technical Conference, 30 August 2009 through 2 September 2009 ; Volume 7, Issue PARTS A AND B , 2009 , Pages 11-16 ; 9780791849040 (ISBN)
  8. URL: http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1650273