TY - GEN
T1 - Suppression of cable suspended parallel manipulator vibration utilizing input shaping
AU - Montgomery, Forrest
AU - Vaughan, Joshua
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/10/6
Y1 - 2017/10/6
N2 - Cable Suspended Parallel Manipulators (CSPMs) are a class of cable robots that are held in tension by the end-effector weight. Controlling the complex CSPM motion requires advanced knowledge of the equilibrium positions and the system dynamics. Additionally, the changing cable lengths alter the natural frequencies of the manipulator as it moves around the workspace. This paper presents the modeling and control of a large scale CSPM with an extendable end-effector. The dominant dynamics were used to design a control system to limit the end-effector vibration. The simulated results are compared to a full-scale experimental setup to verify the key findings.
AB - Cable Suspended Parallel Manipulators (CSPMs) are a class of cable robots that are held in tension by the end-effector weight. Controlling the complex CSPM motion requires advanced knowledge of the equilibrium positions and the system dynamics. Additionally, the changing cable lengths alter the natural frequencies of the manipulator as it moves around the workspace. This paper presents the modeling and control of a large scale CSPM with an extendable end-effector. The dominant dynamics were used to design a control system to limit the end-effector vibration. The simulated results are compared to a full-scale experimental setup to verify the key findings.
UR - http://www.scopus.com/inward/record.url?scp=85047774416&partnerID=8YFLogxK
U2 - 10.1109/CCTA.2017.8062667
DO - 10.1109/CCTA.2017.8062667
M3 - Conference contribution
AN - SCOPUS:85047774416
T3 - 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
SP - 1480
EP - 1485
BT - 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
Y2 - 27 August 2017 through 30 August 2017
ER -