Modeling and Control of a Cable-Driven Parallel Robot Allowing Cable-edge Collisions

被引：2
|
作者：
Hu, Yusheng [1 ]
Zou, Yongwei [1 ]
Cao, Huanhui [1 ]
Lu, Wenjie [1 ]
Xiong, Hao [1 ]
机构：
[1] Harbin Inst Technol, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China
来源：
2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022) | 2022年
关键词：
WRAPPING PHENOMENON; WORKSPACE;
D O I：
10.1109/ICARM54641.2022.9959539
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) have been proposed for a variety of applications such as material handling and rehabilitation. However, the collision-free constraint of CDPRs limits the workspace of CDPRs and the position of anchor points. This paper relaxes the collision-free constraint of CDPRs and addresses the modeling and control of a CDPR allowing cable-edge collisions. An inverse kinematics model is established for a CDPR allowing cable-edge collisions. Based on the inverse kinematics model, a sliding mode-based control strategy is proposed for the pose control of a CDPR allowing cable-edge collision. To evaluate the effectiveness of the inverse kinematics model and the sliding mode-based control strategy, simulations of the pose control of a CDPR allowing cable-edge collisions with two controllable degrees of freedom are conducted.
引用
收藏
页码：483 / 487
页数：5
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