Modeling and control of a cable-suspended robot for inspection of vertical structures

Nicole Barry, Erin Fisher, Joshua Vaughan

Research output: Contribution to journalConference articlepeer-review

6 Scopus citations

Abstract

In this paper, a cable-driven system is examined for the application of inspection of large, vertical-walled structures such as chemical storage tanks, large ship hulls, and high-rise buildings. Such cable-driven systems are not commonly used for these tasks due to vibration, which decreases inspection accuracy and degrades safety. The flexible nature of the cables make them difficult to control. In this paper, input shaping is implemented on a cable-driven system to reduce vibration. To design the input shapers, a model of the cable-driven system was developed. Analysis of the dominant dynamics and changes in them over the large workspace are also presented. The performance improvements provided by the input shaping controller are quantified through a series of simulations.

Original languageEnglish
Article number012071
JournalJournal of Physics: Conference Series
Volume744
Issue number1
DOIs
StatePublished - Oct 3 2016
Externally publishedYes
Event13th International Conference on Motion and Vibration Control, MOVIC 2016 and the 12th International Conference on Recent Advances in Structural Dynamics, RASD 2016 - Southampton, United Kingdom
Duration: Jul 4 2016Jul 6 2016

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