Transverse Vibration Control in Planar Cable-Driven Robotic Manipulators

This paper presents an analysis of the possibility of using cables to eliminate out-of-plane vibrations in planar cable-driven parallel robotic manipulators. A new control strategy is presented with a complete stability analysis. The results show it is theoretically possible to stabilize planar cable-driven systems in non-planar directions using cables alone. The developed controller is shown to be effective both in simulation and experimentally at attenuating transverse platform vibrations.

[1]  So-Ryeok Oh,et al.  Cable suspended planar robots with redundant cables: controllers with positive tensions , 2005, IEEE Transactions on Robotics.

[2]  Hamid D. Taghirad,et al.  Robust PID control of fully-constrained cable driven parallel robots , 2014 .

[3]  Xiaoqiang Tang,et al.  An Overview of the Development for Cable-Driven Parallel Manipulator , 2014 .

[4]  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.

[5]  Amir Khajepour,et al.  Optimal actuator placement for vibration control of a planar cable-driven robotic manipulator , 2016, 2016 American Control Conference (ACC).

[6]  Mitchell Rushton,et al.  Vibration Control in Cable Robots Using a Multi-Axis Reaction System , 2016 .

[7]  Paolo Gallina,et al.  Planar Translational Cable-Direct-Driven Robots , 2003, J. Field Robotics.

[8]  Di Li,et al.  The Five-hundred-meter Aperture Spherical radio Telescope (FAST) project , 2011, 2015 International Topical Meeting on Microwave Photonics (MWP).

[9]  Amir Khajepour,et al.  Design Optimization of a Warehousing Cable-Based Robot , 2014 .

[10]  Amir Khajepour,et al.  Kinematically-Constrained Redundant Cable-Driven Parallel Robots: Modeling, Redundancy Analysis, and Stiffness Optimization , 2017, IEEE/ASME Transactions on Mechatronics.

[11]  Saeed Behzadipour,et al.  Stiffness of Cable-based Parallel Manipulators With Application to Stability Analysis , 2006 .

[12]  Amir Khajepour,et al.  Analysis of a High Stiffness Warehousing Cable-Based Robot , 2014 .

[13]  Torres Mendez,et al.  Low Mobility Cable Robot with Application to Robotic Warehousing , 2014 .

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