Self-feedback motion control for cable-driven parallel manipulators

被引:6
作者
Chen, Weihai [1 ]
Cui, Xiang [1 ]
Yang, Guilin [2 ]
Chen, Jingyuan [1 ]
Jin, Yan [3 ]
机构
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Singapore Inst Mfg Technol, Mechatron Grp, Singapore, Singapore
[3] Queens Univ Belfast, Sch Mech & Aerosp Engn, Belfast BT7 1NN, Antrim, North Ireland
关键词
Cable-driven parallel manipulator; error-tolerance; closed-loop control; self-feedback control; 3-DOF;
D O I
10.1177/0954406213482413
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
This article proposes a closed-loop control scheme based on joint-angle feedback for cable-driven parallel manipulators (CDPMs), which is able to overcome various difficulties resulting from the flexible nature of the driven cables to achieve higher control accuracy. By introducing a unique structure design that accommodates built-in encoders in passive joints, the seven degrees of freedom (7-DOF) CDPM can obtain joint angle values without external sensing devices, and it is used for feedback control together with a proper closed-loop control algorithm. The control algorithm has been derived from the time differential of the kinematic formulation, which relates the joint angular velocities to the time derivative of cable lengths. In addition, the Lyapunov stability theory and Monte Carlo method have been used to mathematically verify the self-feedback control law that has tolerance for parameter errors. With the aid of co-simulation technique, the self-feedback closed-loop control is applied on a 7-DOF CDPM and it shows higher motion accuracy than the one with an open-loop control. The trajectory tracking experiment on the motion control of the 7-DOF CDPM demonstrated a good performance of the self-feedback control method.
引用
收藏
页码:77 / 89
页数:13
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