TY - GEN
T1 - Data-Driven Kinematic Control Scheme for Cable-Driven Parallel Robots Allowing Collisions
AU - Zou, Yongwei
AU - Hu, Yusheng
AU - Cao, Huanhui
AU - Xu, Yuchen
AU - Yu, Yuanjie
AU - Lu, Wenjie
AU - Xiong, Hao
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Cable-Driven Parallel Robots (CDPRs) have been proposed for a variety of applications such as material handling, rehabilitation, and instrumentation. However, the collision-free constraint of CDPRs limits the workspace of CDPRs and the feasible position of anchor points. To address the collision-free constraint of CDPRs, a data-driven kinematic control scheme is developed for CDPRs, enabling a CDPR to control its pose even if suffering collisions between a cable and the base or the end-effector. To deal with the collisions, the data-driven kinematic control scheme utilizes a motion model obtained based on data samples of the motion of the CDPR, rather than the Jacobian matrix of the CDPR, to map a control law in the task space to the time derivative of the length of cables in the joint space. To evaluate the effectiveness of the developed data-driven kinematic control scheme, experiments of controlling a suspended CDPR with two cables allowing collisions are conducted.
AB - Cable-Driven Parallel Robots (CDPRs) have been proposed for a variety of applications such as material handling, rehabilitation, and instrumentation. However, the collision-free constraint of CDPRs limits the workspace of CDPRs and the feasible position of anchor points. To address the collision-free constraint of CDPRs, a data-driven kinematic control scheme is developed for CDPRs, enabling a CDPR to control its pose even if suffering collisions between a cable and the base or the end-effector. To deal with the collisions, the data-driven kinematic control scheme utilizes a motion model obtained based on data samples of the motion of the CDPR, rather than the Jacobian matrix of the CDPR, to map a control law in the task space to the time derivative of the length of cables in the joint space. To evaluate the effectiveness of the developed data-driven kinematic control scheme, experiments of controlling a suspended CDPR with two cables allowing collisions are conducted.
UR - https://www.scopus.com/pages/publications/85146360122
U2 - 10.1109/IROS47612.2022.9981997
DO - 10.1109/IROS47612.2022.9981997
M3 - 会议稿件
AN - SCOPUS:85146360122
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5003
EP - 5008
BT - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Y2 - 23 October 2022 through 27 October 2022
ER -