Cable-driven parallel robots (CDPRs) are under-actuated if they use a number of cables smaller than the degrees of freedom (DoF) of the end-effector (EE). For these robots, the constraint deficiency on the EE may lead to undesirable EE oscillations along the path that it is supposed to track. This paper proposes a trajectory-planning method for underactuated CDPRs which is robust against dynamic-model uncertainties or parameter variation, aiming at minimizing EE oscillations along a prescribed path. Oscillation reduction and robustness are achieved by means of Zero-Vibration Multi-Mode Input Shaping and Dynamic Scaling of a reference trajectory. Simulation results show the effectiveness of the method on a 3-cable 6-DoF robot.

Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables

Idà, Edoardo;Carricato, Marco
2021

Abstract

Cable-driven parallel robots (CDPRs) are under-actuated if they use a number of cables smaller than the degrees of freedom (DoF) of the end-effector (EE). For these robots, the constraint deficiency on the EE may lead to undesirable EE oscillations along the path that it is supposed to track. This paper proposes a trajectory-planning method for underactuated CDPRs which is robust against dynamic-model uncertainties or parameter variation, aiming at minimizing EE oscillations along a prescribed path. Oscillation reduction and robustness are achieved by means of Zero-Vibration Multi-Mode Input Shaping and Dynamic Scaling of a reference trajectory. Simulation results show the effectiveness of the method on a 3-cable 6-DoF robot.
Advances in Robot Kinematics 2020
65
72
SPRINGER PROCEEDINGS IN ADVANCED ROBOTICS
Idà, Edoardo; Briot, Sébastien; Carricato, Marco
File in questo prodotto:
Eventuali allegati, non sono esposti

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/767677
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 4
  • ???jsp.display-item.citation.isi??? ND
social impact