Joint-Space Position Control of a Deployable Cable Driven Robot in Joint Space Using Force Sensors and Actuator Encoders

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Khalilpour Seyedi S.A.; Khorram Bakht R.; Bourbour A.; TAGHIRAD H.D.

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Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2019 | Volume:19 | Issue:11 Page(s): 2615-2625

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Information Journal Paper

Title

Joint-Space Position Control of a Deployable Cable Driven Robot in Joint Space Using Force Sensors and Actuator Encoders

Author(s)

Khalilpour Seyedi S.A. | Khorram Bakht R. | Bourbour A. | TAGHIRAD H.D. | Issue Writer Certificate

Keywords

Suspended Cable-Driven RobotQ1

Deployable DesignQ1

Uncertain Jacobian MatrixQ1

Force ControlQ1

Robust ControlQ1

Abstract

Despite the intense development of cable-driven robot in recent years, they have not yet been vastly utilized in their potential applications because of difficulties in their performing accurate installation and calibration. This paper aims to present a suitable control method, relieving the limitation of accurate calibration and installation requirement in the suspended cable-driven parallel robot. In this paper, kinematics and dynamics uncertainties are investigated and based on their bounds, a Robust Controller is proposed. The main innovation of this article is providing a new control method to cost reduction by eliminating accurate measurement tools such as a camera in position control of a deployable cable-driven robot. Using this approach, reducing costs in building a robot and increasing the speed of installation and calibration is achieved. Another problem investigated in this paper is the problem of joint space controllers applied to redundant cable-driven parallel robots, namely the loosened redundant cable. To solve this problem, the embedded force sensor and a new sliding surface for the controller is proposed. In fact, in this paper, the conventional joint-space controllers are modified to become applicable to the control of cable-driven robots. Finally, by conducting some experiments using ARAS suspended cable-driven parallel robot, the proposed algorithms are verified and it is shown that there are feasible solutions for stable robot maneuvers.

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APA: Copy

Khalilpour Seyedi, S.A., Khorram Bakht, R., Bourbour, A., & TAGHIRAD, H.D.. (2019). Joint-Space Position Control of a Deployable Cable Driven Robot in Joint Space Using Force Sensors and Actuator Encoders. MODARES MECHANICAL ENGINEERING, 19(11 ), 2615-2625. SID. https://sid.ir/paper/178341/en

Vancouver: Copy

Khalilpour Seyedi S.A., Khorram Bakht R., Bourbour A., TAGHIRAD H.D.. Joint-Space Position Control of a Deployable Cable Driven Robot in Joint Space Using Force Sensors and Actuator Encoders. MODARES MECHANICAL ENGINEERING[Internet]. 2019;19(11 ):2615-2625. Available from: https://sid.ir/paper/178341/en

IEEE: Copy

S.A. Khalilpour Seyedi, R. Khorram Bakht, A. Bourbour, and H.D. TAGHIRAD, “Joint-Space Position Control of a Deployable Cable Driven Robot in Joint Space Using Force Sensors and Actuator Encoders,” MODARES MECHANICAL ENGINEERING, vol. 19, no. 11 , pp. 2615–2625, 2019, [Online]. Available: https://sid.ir/paper/178341/en

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