Vibration Reduction of Flexible Rope-Driven Mobile Robot for Safe Façade Operation

Autor:	Sungkeun Yoo, Hwa Soo Kim, Myoungjae Seo, TaeWon Seo, Myeongjin Choi, Joohyun Oh
Rok vydání:	2021
Předmět:	Vibration Damping ratio Control and Systems Engineering Computer science Input shaping Control theory Robot Facade Mobile robot Natural frequency Electrical and Electronic Engineering Computer Science Applications Rope
Zdroj:	IEEE/ASME Transactions on Mechatronics. 26:1812-1819
ISSN:	1941-014X 1083-4435
DOI:	10.1109/tmech.2021.3068622
Popis:	In recent years, cable-driven-parallel robots (CDPRs) have been studied for facade operations. There are various types of CDPRs; however, underconstrained CDPRs are capable of wider operating in facade workspaces than overconstrained CDPRs. Therefore, in this article, a dual ascender robot (DAR) was used for facade operations. Herein, two suggestions for safe facade operations are presented. First, a flexible nylon fiber rope was modeled such that the vibration direction, natural frequency, and damping ratio of the DAR could be converted through a Jacobian matrix and modal decomposition from the rope model. Second, input shaping control was applied to reduce vibrations, based on the vibration model of a DAR using the rope model. Modal decomposition was verified using a verification experiment, and the effect of input shaping was evaluated by comparing the w/input shaping and w/o input shaping experiments. w/input shaping case was shown about 48% reducing robot vibration and about 35% shortening settling time compare with w/o input shaping case.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::3ae399b0df1f063699b3d2dc5c3b45cc https://doi.org/10.1109/tmech.2021.3068622 Zobrazit plný text záznamu