NDLI: Active vibration canceling of a cable-driven parallel robot in modal space

Content Provider	IEEE Xplore Digital Library
Author	Weber, X. Cuvillon, L. Gangloff, J.
Copyright Year	2015
Description	Author affiliation: ICube Lab., Illkirch, France (Weber, X.; Cuvillon, L.; Gangloff, J.)
Abstract	Compared to other parallel robots, cable-driven parallel robots can achieve bigger workspace, higher dynamics with lighter parts and fewer energy while being economically competitive. However, such robots with big workspaces are affected either by cable sagging or by a very low end-effector stiffness, both causing positioning errors. With lightweight cables, the very low stiffness yields disturbing vibrations. In this paper, we address the problem of decoupled active canceling of those vibrations in the modal space. In modal space, vibrations are decomposed in orthogonal signals which allows to use simple SISO control methods to build an active vibration canceling algorithm for the end-effector. As the modal space depends on the end-effector position, better performances are achieved if the controller is tuned for the current robot position. The proposed method is tested both on a realistic simulation and on a 8-cables and 6-degrees of freedom robot.
Starting Page	1599
Ending Page	1604
File Size	1019954
Page Count	6
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139402
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vibrations Aerospace electronics Robots Power cables Mechanical cables Pulleys Transfer functions
Content Type	Text
Resource Type	Article

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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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