The cable array robot: theory and experiment

Cable array robots are a class of robotic mechanisms which utilize multiple actuated cables to manipulate objects. This paper discusses the defining characteristics and the important issues relating to this class of robots. One particular type of cable array robot with three cables is presented in detail including kinematic relations and dynamic modeling. The resulting models are used to design a sliding mode control system for the robot, providing robustness to uncertainty in the mass of manipulated objects while tracking a given trajectory. Experimental results are provided for the system, showing that the robot is capable of tracking a trajectory within several centimeters, which is reasonable performance for many industrial applications. These results are discussed in detail and future research plans are presented.

[1]  Wei-Jung Shiang,et al.  Optimal force distribution applied to a robotic crane with flexible cables , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[2]  Sadao Kawamura,et al.  Development of an ultrahigh speed robot FALCON using wire drive system , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[3]  Manfred Hiller,et al.  On design of a redundant wire-driven parallel robot WARP manipulator , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[4]  Christopher Edwards,et al.  Sliding mode control : theory and applications , 1998 .

[5]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[6]  Sarah K. Spurgeon,et al.  Sliding Mode Control , 1998 .

[7]  James S. Albus,et al.  The NIST robocrane , 1993, J. Field Robotics.

[8]  Martin M. Mikulas,et al.  Mechanism synthesis and 2-D control designs of an active three cable crane , 1992 .

[9]  Rodney G. Roberts,et al.  On the inverse kinematics, statics, and fault tolerance of cable‐suspended robots , 1998 .

[10]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[11]  Toshi Takamori,et al.  On Fundamental Design of Cable Configurations of Cable-Driven Parallel Manipulators with Redundancy. , 2000 .

[12]  Perry D. Campbell,et al.  Tendon Suspended Robots: Virtual Reality and Terrestrial Applications , 1995 .