This paper deals with the use of input-shaping filters in conjunction with a feed-forward control of Cable-Driven Parallel Robots (CDPRs), while integrating cable tension calculation to satisfy positive cable tensions along the prescribed trajectory of the moving-platform. This method aims to attenuate the oscillatory motions of the moving-platform. Thus, the input signal is modified to make it self-cancel residual vibrations. 5 The effectiveness, in terms of moving-platform oscillation attenuation, of the proposed closed-loop control method combined with shaping inputs is experimentally studied on a suspended and non-redundant CDPR prototype. This confirms residual vibration reduction improvement with respect to the unshaped control in terms of Peak-to-Peak amplitude of velocity error, which can achieve 72 % while using input-shaping filters.
@article{arxiv.2010.11676,
title = {Input-Shaping for Feed-Forward Control of Cable-Driven Parallel Robots},
author = {Sana Baklouti and Eric Courteille and Philippe Lemoine and Centrale Nantes and Stéphane Caro},
journal= {arXiv preprint arXiv:2010.11676},
year = {2020}
}
Comments
Journal of Dynamic Systems, Measurement, and Control, American Society of Mechanical Engineers, 2020