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Input-Shaping for Feed-Forward Control of Cable-Driven Parallel Robots

Abstract : This paper deals with the use of input-shaping filters in conjunction with a feed-forward control of Cable-Driven Parallel Robots (CDPRs), while integrating cable tension calculation to satisfy positive cable tensions along the prescribed trajectory of the moving-platform. This method aims to attenuate the oscillatory motions of the moving-platform. Thus, the input signal is modified to make it self-cancel residual vibrations. 5 The effectiveness, in terms of moving-platform oscillation attenuation, of the proposed closed-loop control method combined with shaping inputs is experimentally studied on a suspended and non-redundant CDPR prototype. This confirms residual vibration reduction improvement with respect to the unshaped control in terms of Peak-to-Peak amplitude of velocity error, which can achieve 72 % while using input-shaping filters.
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Contributor : Pierre Tramonti <>
Submitted on : Tuesday, December 22, 2020 - 12:55:29 PM
Last modification on : Wednesday, January 13, 2021 - 3:40:09 AM


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Sana Baklouti, Eric Courteille, Philippe Lemoine, Stéphane Caro. Input-Shaping for Feed-Forward Control of Cable-Driven Parallel Robots. Journal of Dynamic Systems, Measurement, and Control, American Society of Mechanical Engineers, 2021, 143 (2), ⟨10.1115/1.4048354⟩. ⟨hal-02932088v2⟩



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