TY - GEN
T1 - A Novel Control Strategy for Cable-Driven Parallel Robots with Unknown Jacobians
AU - Xiong, Hao
AU - Zhang, Lin
AU - Diao, Xiumin
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - Cable-driven parallel robots (CDPRs) have been studied by many researchers in the past decades. Due to the inconsistency among setups of a CDPR in some applications, such as rehabilitation, the Jacobian of the CDPR may not be known for a setup. In order to control a CDPR with unknown Jacobian, a novel control strategy named the PID-FNN control strategy is proposed in this paper. The control strategy consists of a PID controller and a feedforward neural network (FNN). The FNN takes over the role of the Jacobian by mapping a wrench applied on the end-effector of the CDPR at a pose in the task space to a set of cable tensions in the joint space. In this way, the CDPR is controlled by cable tensions computed by solving the inverse dynamics problem using such a mapping, rather than the Jacobian. Simulation results show that the PID-FNN control strategy works as expected in controlling an example CDPR with four cables, three degrees of freedom, and unknown Jacobian.
AB - Cable-driven parallel robots (CDPRs) have been studied by many researchers in the past decades. Due to the inconsistency among setups of a CDPR in some applications, such as rehabilitation, the Jacobian of the CDPR may not be known for a setup. In order to control a CDPR with unknown Jacobian, a novel control strategy named the PID-FNN control strategy is proposed in this paper. The control strategy consists of a PID controller and a feedforward neural network (FNN). The FNN takes over the role of the Jacobian by mapping a wrench applied on the end-effector of the CDPR at a pose in the task space to a set of cable tensions in the joint space. In this way, the CDPR is controlled by cable tensions computed by solving the inverse dynamics problem using such a mapping, rather than the Jacobian. Simulation results show that the PID-FNN control strategy works as expected in controlling an example CDPR with four cables, three degrees of freedom, and unknown Jacobian.
UR - https://www.scopus.com/pages/publications/85078344051
U2 - 10.1109/ARSO46408.2019.8948827
DO - 10.1109/ARSO46408.2019.8948827
M3 - 会议稿件
AN - SCOPUS:85078344051
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 79
EP - 83
BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
PB - IEEE Computer Society
T2 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Y2 - 31 October 2019 through 2 November 2019
ER -