Abstract
Cable failure is an extremely critical situation in the operation of cable-driven parallel robots (CDPR), as the robot might be instantly outside of its predefined workspace. Therefore, the calculation of a cable force distribution might fail and, thus, the controller might not be able to master the guidance of the system anymore. However, as long as there is a remaining set of cables, the dynamic behavior of the system can be influenced to prevent further damage, such as collisions with the ground. The paper presents a feasible algorithm, introduces the models for dynamical multi-body simulation and verifies the algorithm within control loop closure.
Highlights
The calculation of a cable force distribution might fail and, the controller might not be able to master the guidance of the system anymore
Cable-driven parallel robots (CDPR) use a set of cables that are coiled on digitally controlled winches to move a payload, such as a platform
Research has been conducted to improve the performance of cable-driven parallel robots (CDPR) in underwater operations [6]
Summary
Cable-driven parallel robots (CDPR) use a set of cables that are coiled on digitally controlled winches to move a payload, such as a platform. Following a strictly model-based testing scheme, the examined behavior of the introduced emergency strategy is analyzed, discussed and compared to the commonly used control algorithm. This paves the way for future experimental validation on a prototype. Dynamic simulations within the chosen environment are performed, comparing the standard controller approach and the presented emergency controller within a cable failure scenario. This analysis is extended regarding the computation time and real-time suitability of the emergency algorithm, considering an emergency controller restricted in iterations. A summary and outlook on future work towards implementation within real hardware are given
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