Dear Spiral user, We’re pleased to introduce Helix, https://helix.imperial.ac.uk/ Imperial’s new repository for research datasets. Please use Helix for all future dataset deposits. There is no change to Spiral - continue depositing as usual. For queries, contact the Research Data Management team at rdm-enquiries@imperial.ac.uk. Kind regards, the Spiral Team. The Spiral team
Tri-space operational control of redundant multilink and hybrid cable-driven parallel robots using an iterative-learning-based reactive approach
File(s)
Author(s)
Bhattacharya, Dipankar
Chan, Yin Pok
Shang, Siqi
Chan, Yuen Shan
Tan, Ying
Type
Journal Article
Abstract
Cable-driven parallel robots (CDPRs) are a type of parallel mechanism in which cables are used as actuators. Due to the two levels of redundancy and numerous constraints within the CDPR actuation, joint and operational spaces (together known as the tri-space), tracking a given trajectory in the operational space while satisfying constraints in tri-space simultaneously is challenging. To the best of the authors’ knowledge, there does not exist any tri-space control framework, which is robust, effective, and directly applicable to several architectures of redundantly actuated CDPRs. This article proposes a tri-space control framework that combines reactive control (RC) and iterative-learning control (ILC) to perform repetitive tasks in the operational space. The framework allows the tracking of operational space trajectories online with feasible cable forces while avoiding undesirable situations such as cable-link interference, joint interference, and loss of manipulability. On the other hand, by finding an optimal parameter in the null space using a novel parameterization of a null-space vector, the performance can be improved through ILC when the task is repeatedly executed. Simulation and hardware results on various multilink cable-driven robots (MCDRs) and hybrid cable-driven robots (HCDRs) show that the proposed tri-space control framework can be conveniently and effectively applied to the real-time control of different CDPRs.
Date Issued
2023-11-01
Date Acceptance
2023-03-16
Citation
IEEE Transactions on Control Systems Technology, 2023, 31 (6), pp.2465-2483
URI
URL
DOI
ISSN
1063-6536
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Start Page
2465
End Page
2483
Journal / Book Title
IEEE Transactions on Control Systems Technology
Volume
31
Issue
6
Copyright Statement
© 2023 The Authors. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/
License URL
Publication Status
Published
Date Publish Online
2023-04-13