Adaptive Preload Control of Cable-Driven Parallel Robots for Handling Task

Autor:	Reichenbach, Thomas, Clar, Johannes, Pott, Andreas, Verl, Alexander
Rok vydání:	2024
Předmět:	Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	This paper presents a method for dynamic adjustment of cable preloads based on the actuation redundancy of \acp{CDPR}, which allows increasing or decreasing the platform stiffness depending on task requirements. This is achieved by computing preload parameters with an extended nullspace formulation of the kinematics. The method facilitates the operator's ability to specify a defined preload within the operation space. The algorithms are implemented in a real-time environment, allowing for the use of optimization in hybrid position-force control. To validate the effectiveness of this approach, a simulation study is performed, and the obtained results are compared to existing methods. Furthermore, the method is investigated experimentally and compared with the conventional position-controlled operation of a cable robot. The results demonstrate the feasibility of adaptively adjusting cable preloads during platform motion and manipulation of additional objects. Comment: Submitted to "Annals of Scientific Society for Assembly, Handling and Industrial Robotics" (MHI2024 conference/colloquium)
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2403.19293 Zobrazit plný text záznamu View this record from Arxiv