NDLI: Enhanced trajectory tracking control with active lower bounded stiffness control for cable robot

Content Provider	IEEE Xplore Digital Library
Author	Kun Yu Leng-Feng Lee Chin Pei Tang Krovi, V.N.
Copyright Year	2010
Description	Author affiliation: Cameron Compression Systems, Buffalo NY 14227, USA (Kun Yu) \|\| Department of Mechanical and Aerospace Engineering, SUNY at Buffalo, NY 14260, USA (Leng-Feng Lee; Krovi, V.N.) \|\| School of Engineering and Computer Science, UT Dallas, Richardson TX 75080, USA (Chin Pei Tang)
Abstract	Cable robots have seen considerable recent interest ensuing from their ability to combine a large workspace with significant payload capacity. However, the cables can apply forces to the end-effector only when they are in tension, and thus form a subclass of control problems requiring unilateral control inputs. Furthermore, actuation redundancy occurs when surplus cables are introduced within the system. On one hand, such redundancy needs to be carefully resolved for accurate tracking of the task. On the other hand, it allows the redistribution of the actuation forces to satisfy some secondary criteria. In this paper, we apply such redundancy for enhanced trajectory tracking by actively controlling the task stiffness of the end-effector. The scheme allow us to specify a lower bound of the task stiffness, which is intended to provide improved trajectory tracking and disturbance rejection performance. Finally, we illustrate the improved control performance within a virtual prototype cosimulation framework.
Starting Page	669
Ending Page	674
File Size	1340989
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509458
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Robot control Robot kinematics Redundancy Robotics and automation Orbital robotics Power cables Automatic control Force control Virtual prototyping
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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