TY - GEN
T1 - Modeling and control of a cable-driven robot for inspection of wide-area horizontal workspaces
AU - Montgomery, Forrest
AU - Vaughan, Joshua
N1 - Publisher Copyright:
Copyright © 2016 by ASME.
PY - 2016
Y1 - 2016
N2 - Cable Driven Parallel Manipulators (CDPMs) utilize flexible wire to actuate an end-effector, allowing rapid accelerations across large workspaces. CDPMs are predominantly modeled with rigid cables, greatly simplifying the analysis. This model is satisfactory for small, fixed masses traveling short distances. However, as cable length increases, the flexibility of the cables, including the variation in stiffness and damping as length changes, cannot be ignored. In addition, the end-effector, which may be modeled as a pendulum, will rotate and contribute to the motion. This paper presents the modeling and control of a large-scale, cable-driven parallel manipulator, with application to inspection of large workspaces. The multi-degree-of-freedom model developed takes into account flexibility of cables and the oscillatory dynamics of the end effector. The dominant dynamics are identified and used to design a control system to limit vibration.
AB - Cable Driven Parallel Manipulators (CDPMs) utilize flexible wire to actuate an end-effector, allowing rapid accelerations across large workspaces. CDPMs are predominantly modeled with rigid cables, greatly simplifying the analysis. This model is satisfactory for small, fixed masses traveling short distances. However, as cable length increases, the flexibility of the cables, including the variation in stiffness and damping as length changes, cannot be ignored. In addition, the end-effector, which may be modeled as a pendulum, will rotate and contribute to the motion. This paper presents the modeling and control of a large-scale, cable-driven parallel manipulator, with application to inspection of large workspaces. The multi-degree-of-freedom model developed takes into account flexibility of cables and the oscillatory dynamics of the end effector. The dominant dynamics are identified and used to design a control system to limit vibration.
UR - http://www.scopus.com/inward/record.url?scp=85015683255&partnerID=8YFLogxK
U2 - 10.1115/DSCC2016-9678
DO - 10.1115/DSCC2016-9678
M3 - Conference contribution
AN - SCOPUS:85015683255
T3 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
BT - Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
PB - American Society of Mechanical Engineers
T2 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Y2 - 12 October 2016 through 14 October 2016
ER -