Visual Servoing of Cable-Driven Parallel Robots with Tension Management

被引:7
|
作者
Zake, Zane [1 ,2 ]
Chaumette, Francois [3 ]
Pedemonte, NicolO [2 ]
Caro, Stephane [1 ,4 ]
机构
[1] Lab Sci Numer Nantes, UMR CNRS 6004, 1 Rue Noe, F-44321 Nantes, France
[2] IRT Jules Verne, Chemin Chaffault, F-44340 Bouguenais, France
[3] Univ Rennes, IRISA, CNRS, INRIA, Rennes, France
[4] Ctr Natl Rech Sci CNRS, 1 Rue Noe, F-44321 Nantes, France
关键词
VISION-BASED CONTROL;
D O I
10.1109/ICRA48506.2021.9561236
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Cable-driven parallel robots (CDPRs) are a type of parallel robots, where cables are used instead of rigid links. This leads to many advantages, such as large workspace, low mass in motion and simple reconfiguration. The drawbacks are accuracy issues and complex cable management. Indeed, it is usual that cables become slack. That can be caused by, for example, cable mass, uncertainties in the system, and a higher number of cables than the number of degrees of freedom of the moving-platform. This reduces CDPR stiffness and degree of actuation. While visual servoing provides good accuracy and is robust to different perturbations in the system and to modeling errors, it does not deal with cable slackness. Thus, a CDPR with visual servoing can become underactuated due to cable slack. We propose in this paper to enrich visual servoing with a tension correction algorithm. Experimental results show reduction of slackness and thus avoiding slackness-related trajectory perturbations and loss of stability.
引用
收藏
页码:6861 / 6867
页数:7
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