Modeling and control strategy of a haptic interactive robot based ona cable-driven parallel mechanism

This study proposes a haptic interactive robot (HIR)configuration and a control strategy based on a cable-driven parallelmechanism. The ball screw drives the cable to improve the motion controlaccuracy. The robot system control strategy improves the accuracy andstability of haptic interaction. Through configuration optimization designand analysis, eight cables are used to ensure that the robot end effectorexerts force and enables motion. Moreover, a forward and inverse kinematicsmodel of the robot is developed. According to the configuration of the HIR,an improved cable tension distribution algorithm can facilely determine thecable tension. Hence, each cable is consistently in a tight state, and thechange in tension is not sudden. Drive unit and robot system controlstrategies are proposed to render the haptic interaction accurate andstable. A simulation experiment of a complex space motion track isimplemented through the robot end effector, thus verifying the accuracy ofthe established forward and inverse kinematics model. The accuracy of thetension distribution algorithm, control strategy, and robot stability areverified through simulation experiments, considering different forces andmotion tracks of robot end effectors.