Model identification and vision-based H∞ position control of 6-DoF cable-driven parallel robots. Issue 4 (3rd April 2017)

• Record Type: Journal Article
• Authors: Chellal, R.; Cuvillon, L.; Laroche, E.
• Is Part Of: International journal of control. Volume 90:Issue 4(2017)
• Page Start: 684
• Page End: 701
• Publication Date: 2017-04-03
• Subjects: Cable-driven parallel robots -- model identification -- vision-based control -- H∞ control -- tension distribution; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2016.1220623
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: This paper presents methodologies for the identification and control of 6-degrees of freedom (6-DoF) cable-driven parallel robots (CDPRs). First a two-step identification methodology is proposed to accurately estimate the kinematic parameters independently and prior to the dynamic parameters of a physics-based model of CDPRs. Second, an original control scheme is developed, including a vision-based position controller tuned with theH∞ methodology and a cable tension distribution algorithm. The position is controlled in the operational space, making use of the end-effector pose measured by a motion-tracking system. A four-blockH∞ design scheme with adjusted weighting filters ensures good trajectory tracking and disturbance rejection properties for the CDPR system, which is a nonlinear-coupled MIMO system with constrained states. The tension management algorithm generates control signals that maintain the cables under feasible tensions. The paper makes an extensive review of the available methods and presents an extension of one of them. The presented methodologies are evaluated by simulations and experimentally on a redundant 6-DoF INCA 6D CDPR with eight cables, equipped with a motion-tracking system.