TY - GEN
T1 - Modeling and Control of a Cable-Driven Parallel Robot Allowing Cable-edge Collisions
AU - Hu, Yusheng
AU - Zou, Yongwei
AU - Cao, Huanhui
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 and rehabilitation. However, the collision-free constraint of CDPRs limits the workspace of CDPRs and the position of anchor points. This paper relaxes the collision-free constraint of CDPRs and addresses the modeling and control of a CDPR allowing cable-edge collisions. An inverse kinematics model is established for a CDPR allowing cable-edge collisions. Based on the inverse kinematics model, a sliding mode-based control strategy is proposed for the pose control of a CDPR allowing cable-edge collision. To evaluate the effectiveness of the inverse kinematics model and the sliding mode-based control strategy, simulations of the pose control of a CDPR allowing cable-edge collisions with two controllable degrees of freedom are conducted.
AB - Cable-Driven Parallel Robots (CDPRs) have been proposed for a variety of applications such as material handling and rehabilitation. However, the collision-free constraint of CDPRs limits the workspace of CDPRs and the position of anchor points. This paper relaxes the collision-free constraint of CDPRs and addresses the modeling and control of a CDPR allowing cable-edge collisions. An inverse kinematics model is established for a CDPR allowing cable-edge collisions. Based on the inverse kinematics model, a sliding mode-based control strategy is proposed for the pose control of a CDPR allowing cable-edge collision. To evaluate the effectiveness of the inverse kinematics model and the sliding mode-based control strategy, simulations of the pose control of a CDPR allowing cable-edge collisions with two controllable degrees of freedom are conducted.
UR - https://www.scopus.com/pages/publications/85143658922
U2 - 10.1109/ICARM54641.2022.9959539
DO - 10.1109/ICARM54641.2022.9959539
M3 - 会议稿件
AN - SCOPUS:85143658922
T3 - ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics
SP - 483
EP - 487
BT - ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2022
Y2 - 9 July 2022 through 11 July 2022
ER -