A null-space-based control for cable driven manipulators

Davide Cattin, Emre Sariyildiz, Kouhei Ohnishi

研究成果: Conference contribution

2 引用 (Scopus)

抄録

Cable driven systems have been applied in several manipulators and due to their high backdrivability and apparent low inertia have been successfully used in telemanipulation systems. However, in order to achieve high performances, a control to keep the cables taut is needed. In this paper, a position control in the null and range space is used to avoid cables from slacking and to achieve the desired performances. Indeed, a cable driven manipulator is a redundant system and its null space represents the internal forces, that is the tensions of the cables. To guarantee robustness against model parametric uncertainties and external disturbances, a position based disturbance observer has been designed. Proof of stability of the proposed control and bounds of the estimation error have been given. Simulation and experimental results show that the proposed control achieve the desired performances keeping the cables taut.

元の言語English
ホスト出版物のタイトルIECON Proceedings (Industrial Electronics Conference)
ページ2132-2137
ページ数6
DOI
出版物ステータスPublished - 2012
イベント38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
継続期間: 2012 10 252012 10 28

Other

Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
Canada
Montreal, QC
期間12/10/2512/10/28

Fingerprint

Manipulators
Cables
Position control
Error analysis

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

これを引用

Cattin, D., Sariyildiz, E., & Ohnishi, K. (2012). A null-space-based control for cable driven manipulators. : IECON Proceedings (Industrial Electronics Conference) (pp. 2132-2137). [6388797] https://doi.org/10.1109/IECON.2012.6388797

A null-space-based control for cable driven manipulators. / Cattin, Davide; Sariyildiz, Emre; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2012. p. 2132-2137 6388797.

研究成果: Conference contribution

Cattin, D, Sariyildiz, E & Ohnishi, K 2012, A null-space-based control for cable driven manipulators. : IECON Proceedings (Industrial Electronics Conference)., 6388797, pp. 2132-2137, 38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012, Montreal, QC, Canada, 12/10/25. https://doi.org/10.1109/IECON.2012.6388797
Cattin D, Sariyildiz E, Ohnishi K. A null-space-based control for cable driven manipulators. : IECON Proceedings (Industrial Electronics Conference). 2012. p. 2132-2137. 6388797 https://doi.org/10.1109/IECON.2012.6388797
Cattin, Davide ; Sariyildiz, Emre ; Ohnishi, Kouhei. / A null-space-based control for cable driven manipulators. IECON Proceedings (Industrial Electronics Conference). 2012. pp. 2132-2137
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