Cable suspended planar robots with redundant cables: Controllers with positive tensions

被引：209

作者：

Oh, SR ^{[1
]}

Agrawal, SK ^{[1
]}

机构：

[1] Univ Delaware, Dept Mech Engn, Newark, DE 19716 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2005年 / 21卷 / 03期

基金：

美国国家科学基金会;

关键词：

cable-suspended planar parallel robot; positive cable tension; redundancy;

D O I：

10.1109/TRO.2004.838029

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Cable-suspended robots are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the end-effector but not push it. From a scientific point of view, this feature makes feedback control of cable-suspended robots more challenging than their counterpart parallel-actuated robots. In the case with redundant cables, feedback control laws can be designed to make all tensions positive while attaining desired control performance. This paper presents approaches to design positive tension controllers for cable suspended robots with redundant cables. Their effectiveness is demonstrated through simulations and experiments on a three degree-of-freedom cable suspended robots.

引用

页码：457 / 465

页数：9

共 25 条

[1] THE NIST SPIDER, A ROBOT CRANE [J].

ALBUS, J ;

BOSTELMAN, R ;

DAGALAKIS, N .

JOURNAL OF RESEARCH OF THE NATIONAL INSTITUTE OF STANDARDS AND TECHNOLOGY, 1992, 97 (03) :373-385

[2]

[Anonymous], P IEEE INT C ROB AUT

[3]

Barrette G., 2000, P ASME DES ENG TECHN, P391

[4]

CONE LL, 1985, BYTE, P122

[5]

ESPIAU B, 1985, P 3 INT S ROB RES, P94

[6] Trajectory planning of differentially flat systems with dynamics and inequalities [J].

Faiz, N ;

Agrawal, SK ;

Murray, RM .

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2001, 24 (02) :219-227

[7]

FATTAH A, 2002, P WORKSH FUND ISS FU, P287

[8]

FOURNIER A, 1980, THESIS U SCI TECHNIQ

[9]

HANAFUSA H, 1981, P 8 IFAC WORLD C, P38

[10]

Higuchi T., 1988, P 5 INT S ROB CONSTR, P661

← 1 2 3 →