Abstract
AbstractIn this paper an internal force-based impedance controller for redundantly actuated cable-driven parallel robots (CDPRs) is proposed. For CDPRs, each actuated cable forms a manipulator equipped with the feature of an impedance to enforce a dynamical relationship between the end-effector (EE) velocity and the internal forces. No explicit position and force control loops are necessary. This approach can guarantee a desired tension level in the cable system for given EE movements. Additionally the platform dynamics do not cause tracking or steady state position errors. Non-linear effects like model uncertainties take a negative influence on the controller. The incorporated disturbance observers guarantee the necessary robustness for the impedance controller. To validate the described control approach, experiments with a 6-DOF CDPR with industrial BLDC-Motors are presented.KeywordsCable-driven parallel robotsRedundant actuationInternal force-based impedance controlDisturbance observerIndustrial BLDC-motors
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