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Control Solution for a Cable-Driven Parallel Robot with Highly Variable Payload

Abstract : This paper deals with the design of a robust control scheme for a suspended Cable-Driven Parallel Robot (CDPR), composed of eight cables and a moving platform (MP), suitable for pick-and-place operations of heterogeneous objects with different shapes, sizes and masses, up to a total load of 700 kg. Dy-namometers measure the force applied by each cable onto the moving-platform and are used to assess the payload mass at any time. In the proposed control solution, each motor of the CDPR is directly driven by a PD torque controller, which takes benefit of the real-time payload estimation in a feedforward term. In order to evaluate its performance, experiments on a typical pick and place trajectory are realized for different payloads. As a result , three control schemes: (i) a Proportional-Derivative (PD) torque controller; (ii) a PD controller with compensation of the MP mass only and (iii) a PD controller with real-time mass estimation and compensation are experimentally compared with respect to their positioning accuracy. It turns out that a good estimation of the payload is obtained in real-time thanks to the dynamometers. Moreover, the higher the payload mass, the more accurate the proposed controller with respect to its two counterparts .
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https://hal.archives-ouvertes.fr/hal-01863730
Contributor : Stéphane Caro <>
Submitted on : Wednesday, August 29, 2018 - 4:08:09 AM
Last modification on : Thursday, February 27, 2020 - 1:16:37 AM
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Etienne Picard, Stéphane Caro, Franck Plestan, Fabien Claveau. Control Solution for a Cable-Driven Parallel Robot with Highly Variable Payload. ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018, Aug 2018, Quebec city, Canada. pp.1429-1436, ⟨10.1115/DETC2018-85304⟩. ⟨hal-01863730⟩

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