Vibration Suppression of CDPRs Based on Differential Flatness
- Authors
- Yoon, Jonghyun; Hwang, Sung Wook; Bak, Jeong-Hyeon; Park, Jong Hyeon
- Issue Date
- Oct-2018
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- 2018 IEEE Conference on Control Technology and Applications, CCTA 2018, pp.259 - 264
- Indexed
- SCOPUS
- Journal Title
- 2018 IEEE Conference on Control Technology and Applications, CCTA 2018
- Start Page
- 259
- End Page
- 264
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/2305
- DOI
- 10.1109/CCTA.2018.8511527
- 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.
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