Cable tension control of cable-driven parallel manipulators with position-controlling actuators

Hao Xiong; Xiumin Diao

doi:10.1109/ROBIO.2017.8324673

Cable tension control of cable-driven parallel manipulators with position-controlling actuators

Hao Xiong
, Xiumin Diao

Purdue University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

Keep all cables in tension is crucial for the control of a cable driven parallel manipulator (CDPM). It is challenging to control the tensions in cables of a CDPM with position-controlling actuators because the controlled output positions of actuators are not directly related to cable tensions, especially when cable elasticity is considered. This paper proposes a cable tension control algorithm for fully-constrained CDPMs with positioncontrolling actuators. The proposed tension control algorithm is mathematically derived and verified through simulation using Matlab. Simulation results show that the proposed algorithm can guarantee all cables are in tension for fully-constrained CDPMs with position-controlling actuators, while not affecting the motion control of the CDPM.

Original language	English
Title of host publication	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1763-1768
Number of pages	6
ISBN (Electronic)	9781538637418
DOIs	https://doi.org/10.1109/ROBIO.2017.8324673
State	Published - 2 Jul 2017
Externally published	Yes
Event	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China Duration: 5 Dec 2017 → 8 Dec 2017

Publication series

Name	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume	2018-January

Conference

Conference	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Country/Territory	China
City	Macau
Period	5/12/17 → 8/12/17

Keywords

cable tension control
cable-driven parallel manipulator
position-controlling actuator

Access to Document

10.1109/ROBIO.2017.8324673

Cite this

Xiong, H., & Diao, X. (2017). Cable tension control of cable-driven parallel manipulators with position-controlling actuators. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (pp. 1763-1768). (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324673

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title = "Cable tension control of cable-driven parallel manipulators with position-controlling actuators",

abstract = "Keep all cables in tension is crucial for the control of a cable driven parallel manipulator (CDPM). It is challenging to control the tensions in cables of a CDPM with position-controlling actuators because the controlled output positions of actuators are not directly related to cable tensions, especially when cable elasticity is considered. This paper proposes a cable tension control algorithm for fully-constrained CDPMs with positioncontrolling actuators. The proposed tension control algorithm is mathematically derived and verified through simulation using Matlab. Simulation results show that the proposed algorithm can guarantee all cables are in tension for fully-constrained CDPMs with position-controlling actuators, while not affecting the motion control of the CDPM.",

keywords = "cable tension control, cable-driven parallel manipulator, position-controlling actuator",

author = "Hao Xiong and Xiumin Diao",

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Xiong, H & Diao, X 2017, Cable tension control of cable-driven parallel manipulators with position-controlling actuators. in 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 1763-1768, 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, China, 5/12/17. https://doi.org/10.1109/ROBIO.2017.8324673

Cable tension control of cable-driven parallel manipulators with position-controlling actuators. / Xiong, Hao; Diao, Xiumin.
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1763-1768 (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Diao, Xiumin

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N2 - Keep all cables in tension is crucial for the control of a cable driven parallel manipulator (CDPM). It is challenging to control the tensions in cables of a CDPM with position-controlling actuators because the controlled output positions of actuators are not directly related to cable tensions, especially when cable elasticity is considered. This paper proposes a cable tension control algorithm for fully-constrained CDPMs with positioncontrolling actuators. The proposed tension control algorithm is mathematically derived and verified through simulation using Matlab. Simulation results show that the proposed algorithm can guarantee all cables are in tension for fully-constrained CDPMs with position-controlling actuators, while not affecting the motion control of the CDPM.

AB - Keep all cables in tension is crucial for the control of a cable driven parallel manipulator (CDPM). It is challenging to control the tensions in cables of a CDPM with position-controlling actuators because the controlled output positions of actuators are not directly related to cable tensions, especially when cable elasticity is considered. This paper proposes a cable tension control algorithm for fully-constrained CDPMs with positioncontrolling actuators. The proposed tension control algorithm is mathematically derived and verified through simulation using Matlab. Simulation results show that the proposed algorithm can guarantee all cables are in tension for fully-constrained CDPMs with position-controlling actuators, while not affecting the motion control of the CDPM.

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KW - position-controlling actuator

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Xiong H, Diao X. Cable tension control of cable-driven parallel manipulators with position-controlling actuators. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1763-1768. (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017). doi: 10.1109/ROBIO.2017.8324673

Cable tension control of cable-driven parallel manipulators with position-controlling actuators

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Keywords

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