相关论文: Adaptive Passivity-Based Pose Tracking Control of …
This paper presents a method for dynamic adjustment of cable preloads based on the actuation redundancy of \acp{CDPR}, which allows increasing or decreasing the platform stiffness depending on task requirements. This is achieved by…
Cable-Driven Parallel Robots (CDPRs) are a kind of parallel robots that have cables instead of rigid links. Implementing vision-based control on CDPRs leads to a good final accuracy despite modeling errors and other perturbations in the…
This paper presents a kinematically constrained planar hybrid cable-driven parallel robot (HCDPR) for warehousing applications as well as other potential applications such as rehabilitation. The proposed HCDPR can harness the strengths and…
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due…
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…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…
Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their…
In cable driven parallel robots (CDPRs), a single cable malfunction usually induces complete failure of the entire robot. However, the lost static workspace (due to failure) can often be recovered through reconfiguration of the cable…
Nowadays, being fast and precise are key requirements in Robotics. This work introduces a novel methodology to tune the stiffness of Cable-Driven Parallel Robots (CDPRs) while simultaneously addressing the tension distribution problem. In…
This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Cable-driven parallel robots (CDPRs) are widely investigated and applied in the worldwide; however, traditional configurations make them to be limited in reaching their maximum workspace duo to constraints such as the maximum allowable…
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP)…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
Recent quadrotors have transcended conventional designs, emphasizing more on foldable and reconfigurable bodies. The state of the art still focuses on the mechanical feasibility of such designs with limited discussions on the tracking…
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
For many tasks, predictive path-following control can significantly improve the performance and robustness of autonomous robots over traditional trajectory tracking control. It does this by prioritizing closeness to the path over timed…
This paper provides an exponential stability result for the adaptive anti-unwinding attitude tracking control problem of a rigid body with uncertain but constant inertia parameters, without requiring the satisfaction of persistent…