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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.
https://hal.archives-ouvertes.fr/hal-02932088
Contributor : Pierre Tramonti Connect in order to contact the contributor
Submitted on : Tuesday, December 22, 2020 - 12:55:29 PM
Last modification on : Monday, January 24, 2022 - 11:30:13 AM
Contributor : Pierre Tramonti Connect in order to contact the contributor
Submitted on : Tuesday, December 22, 2020 - 12:55:29 PM
Last modification on : Monday, January 24, 2022 - 11:30:13 AM
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