Vibration Suppression of CDPRs Based on Differential Flatness
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yoon, Jonghyun | - |
dc.contributor.author | Hwang, Sung Wook | - |
dc.contributor.author | Bak, Jeong-Hyeon | - |
dc.contributor.author | Park, Jong Hyeon | - |
dc.date.accessioned | 2021-07-30T04:56:25Z | - |
dc.date.available | 2021-07-30T04:56:25Z | - |
dc.date.created | 2021-05-11 | - |
dc.date.issued | 2018-10 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/2305 | - |
dc.description.abstract | Cable-Driven Parallel Robots (CDPRs) are well adaptable to various environment and are energy effective system since they use cables as actuators unlike conventional robots. However, a cable can generate only tensile force; therefore, it is necessary for its controller to maintain a positive tension all the time. A cable has elasticity and may have nonlinear features such as nonlinear stiffness, hysteresis, creep, etc. The elasticity of cables particularly may cause undesirable vibrations of the end effector of a CDPR. In this paper, we propose a method to generate the desired trajectory of the motors of a CDPR to suppress vibration of the end-effector based on differential flatness and also proposes how the linear programming method is used to maintain at least a minimum positive tension at each cable. These methods assure that at least a minimum positive tension is generated at each cable and that vibration, particularly residual vibration, is suppressed even with a simple PD controller to track the designed trajectory. The effectiveness of the proposed methods was confirmed not only in computer simulations but also in experiments with a 2-D planar CDPR robot. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Vibration Suppression of CDPRs Based on Differential Flatness | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
dc.identifier.doi | 10.1109/CCTA.2018.8511527 | - |
dc.identifier.scopusid | 2-s2.0-85056819696 | - |
dc.identifier.bibliographicCitation | 2018 IEEE Conference on Control Technology and Applications, CCTA 2018, pp.259 - 264 | - |
dc.relation.isPartOf | 2018 IEEE Conference on Control Technology and Applications, CCTA 2018 | - |
dc.citation.title | 2018 IEEE Conference on Control Technology and Applications, CCTA 2018 | - |
dc.citation.startPage | 259 | - |
dc.citation.endPage | 264 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Controllers | - |
dc.subject.keywordPlus | Elasticity | - |
dc.subject.keywordPlus | End effectors | - |
dc.subject.keywordPlus | Linear programming | - |
dc.subject.keywordPlus | Conventional robots | - |
dc.subject.keywordPlus | Desired trajectories | - |
dc.subject.keywordPlus | Differential flatness | - |
dc.subject.keywordPlus | Non-linear stiffness | - |
dc.subject.keywordPlus | Nonlinear features | - |
dc.subject.keywordPlus | Residual vibrations | - |
dc.subject.keywordPlus | Suppress vibration | - |
dc.subject.keywordPlus | Vibration suppression | - |
dc.subject.keywordPlus | Cables | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/8511527 | - |
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