Abstract
Abstract. For cable-driven parallel robots elastic cables are used to manipulate a mobile platform in the workspace. In this paper, we present a hybrid position-force control, which allows for applying defined forces on the environment and simultaneous movement along the surface. We propose a synchronous control of the cable forces to ensure the stability of the platform during movement. The performance of the controller is experimentally investigated regarding contact establishment and dynamic behavior during a motion on the cable robot IPAnema 3.
Highlights
Due to their huge workspace, high dynamics and lightweight structure, cable-driven parallel robots, in the following referred to as cable robots, received high interest in the past.Processes like grinding and polishing demand an accurately controlled contact force to give reliable results
As txhe wrench is c2omntrolled by the operational space force control, we propose to use the measured wrench wis for the determination of the set-point of the cable forces Ffigseut raecc6o. rIndvinesgtitgoat(eEdqp.o3in).tsTfhoirsceonnstaucrteesstthabaltisthhme cenotntrolled cable force is compatible to the actual external forces and does
The cable force control assumes the gravitational force mpg as wrench during contact establishment which corresponds to the states A to C of the state machine
Summary
Due to their huge workspace, high dynamics and lightweight structure, cable-driven parallel robots, in the following referred to as cable robots, received high interest in the past. Beside the hybrid position-force control, the contact establishment is challenging. W. Kraus et al.: Hybrid Position/Force Control of a Cable Robot fwohr ialegirveins cthaeblpelfaotfrocremdipstorsibituiotinonvefctaonrdacnadnrboetawtiorinttemnaatrsix. IWmphlielemuesnintagtiaoncable robot for applying the contact force, the cables have to be k3e.1pt uCnodnertrtoelnlesriodne.sEigsnpecially for the simultaneous position cTohnetrooplleerdatmioonvaelmsepnact einftohrecteancgoenntrtoiall apilmanseatthitshies icmonptorrotlanotf, athsefrwicrteionnchfowrceins haagvieveton bdeiroecvteirocnome.eg. Tpoerrpeeanlidziecuthlaer htyobtrhide psuorsfiaticoen-offortchee ceonnvtirroolnfmorenat.caWblheilreobuosti,ntghea ccoanbtlreolropbroobt lefomr iaspdpilvyiidnegdthinetocotnhtraecet pfoarrtcse:, the cables have to be kep–t Tunhdeeor pteenrastiioonn.aEl ssppeacciealplyosfiotriotnhecosinmtruolltagnievoeussapdoessitiiroend caos nfrtrippcotlolialsoetifndtoiomfromnorcviaenelsomonhepganevtareiapnttaiotothhnbe.aetlaonsvgpeearcncoetimaxlesp.eltTa,PonCerTethSa2ilsiztieos immpoovretatnhte, the hybrid position-force control for a cable robot, the control problem is d–ivTidheedoipnetoratthiorenealpsaprtasc:e force control generates an offset. The operational space and cable force control alsreet d=esIcKr{ibxesdet,iPnCd+etxaisle.t,OFC} + lCFC,. Raibert artesian lts with ence on ontrol a dvances r Paraltrol and ositionNSY 18 m IdenParallel force [N]
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