Abstract
In this paper, online control of the ICaSbot cable-suspended robot is improved by using the online output of the loadcells. At first, the tension of the cables can be sensed, leading to the evaluation of the required motor torque and consequently resulting in a more accurate motor torque control. Second, the DLCC of the robot can be predefined, which help us not to violate the allowable load to satisfy the acceptable accuracy, and finally the small deflection of cable vibrations can be calculated which results in an even more accurate sensing of the actual position of the end-effector together with the data of the encoders to achieve better feedback and control of the end-effector. This paper presents online recording of the actual cable tension provided using proper data transferring system and the constructed electrical boards which filter the noises. Data acquisition card is used to transfer the data to a computer, and LabView is employed to record and control the robot in an online procedure. Finally, the efficiency of the designed mechanism and the proposed applications are verified by comparing the experimental tests conducted on the IUST cable robot (ICaSbot) with the simulation results using MATLAB software.
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