Elasto-Dynamic Model-Based Control of Non-Redundant Cable-Driven Parallel Robots

Sana Baklouti (1) , Stéphane Caro (2, 3, 4) , Eric Courteille (1)

1 LGCGM - Laboratoire de Génie Civil et Génie Mécanique
2 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
3 LS2N - Laboratoire des Sciences du Numérique de Nantes
4 CNRS - Centre National de la Recherche Scientifique

This paper deals with a model-based feed-forward torque control strategy of non-redundant cable-driven parallel robots (CDPRs). The proposed feed-forward controller is derived from an inverse elasto-dynamic model of the CDPR to compensate for the dynamic and oscil-latory effects due to cable elasticity. A PID feedback controller ensures stability and disturbance rejection. Simulations confirm that tracking errors can be reduced by the proposed strategy compared to conventional rigid body model-based control.

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

Sana Baklouti, Stéphane Caro, Eric Courteille. Elasto-Dynamic Model-Based Control of Non-Redundant Cable-Driven Parallel Robots. The 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Jun 2018, Rennes, France. ⟨hal-01757535⟩