Force/Position Hybrid Control for Cable-driven Parallel Robots Based on the System Stiffness
The supporting stiffness analysis of the eight-cable 6-DOF cable-driven parallel robot is conducted, and the force/position hybrid control is carried out on this basis. Firstly, the cable-driven parallel robot is described systematically. Secondly, a kinematic analysis is conducted according to the...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-08-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.08.018 |
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| _version_ | 1841546980252188672 |
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| author | Chen Keju Zhang Shangying Zhang Jilei Luo Shiyang Zhang Bowei |
| author_facet | Chen Keju Zhang Shangying Zhang Jilei Luo Shiyang Zhang Bowei |
| author_sort | Chen Keju |
| collection | DOAJ |
| description | The supporting stiffness analysis of the eight-cable 6-DOF cable-driven parallel robot is conducted, and the force/position hybrid control is carried out on this basis. Firstly, the cable-driven parallel robot is described systematically. Secondly, a kinematic analysis is conducted according to the principle of vector closure. The force of the mobile platform is analysed, and the static equilibrium equation is derived by Newtonian mechanics. After that, the relationship between the load change and the position change is described by the stiffness matrix in the operational space, the analytical expression of the supporting stiffness is deduced, and the influencing factors of supporting stiffness are analysed. Moreover, the factors of system stiffness, mobile platform posture accuracy and force control stability are considered, integrating the force/position hybrid controller. The simulation results show that the position error of the mobile platform is effectively reduced by the force/position hybrid control strategy, which is designed based on the stiffness analysis. Finally, the accuracy and effectiveness of the stiffness model and the force/position hybrid control strategy are verified by experiments. |
| format | Article |
| id | doaj-art-553f280bc527462480911676e7493cd2 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-553f280bc527462480911676e7493cd22025-01-10T14:58:34ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-08-014713013438312521Force/Position Hybrid Control for Cable-driven Parallel Robots Based on the System StiffnessChen KejuZhang ShangyingZhang JileiLuo ShiyangZhang BoweiThe supporting stiffness analysis of the eight-cable 6-DOF cable-driven parallel robot is conducted, and the force/position hybrid control is carried out on this basis. Firstly, the cable-driven parallel robot is described systematically. Secondly, a kinematic analysis is conducted according to the principle of vector closure. The force of the mobile platform is analysed, and the static equilibrium equation is derived by Newtonian mechanics. After that, the relationship between the load change and the position change is described by the stiffness matrix in the operational space, the analytical expression of the supporting stiffness is deduced, and the influencing factors of supporting stiffness are analysed. Moreover, the factors of system stiffness, mobile platform posture accuracy and force control stability are considered, integrating the force/position hybrid controller. The simulation results show that the position error of the mobile platform is effectively reduced by the force/position hybrid control strategy, which is designed based on the stiffness analysis. Finally, the accuracy and effectiveness of the stiffness model and the force/position hybrid control strategy are verified by experiments.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.08.018Cable-driven parallel robotSupporting stiffnessForce/position hybrid controlMobile platformPosition |
| spellingShingle | Chen Keju Zhang Shangying Zhang Jilei Luo Shiyang Zhang Bowei Force/Position Hybrid Control for Cable-driven Parallel Robots Based on the System Stiffness Jixie chuandong Cable-driven parallel robot Supporting stiffness Force/position hybrid control Mobile platform Position |
| title | Force/Position Hybrid Control for Cable-driven Parallel Robots Based on the System Stiffness |
| title_full | Force/Position Hybrid Control for Cable-driven Parallel Robots Based on the System Stiffness |
| title_fullStr | Force/Position Hybrid Control for Cable-driven Parallel Robots Based on the System Stiffness |
| title_full_unstemmed | Force/Position Hybrid Control for Cable-driven Parallel Robots Based on the System Stiffness |
| title_short | Force/Position Hybrid Control for Cable-driven Parallel Robots Based on the System Stiffness |
| title_sort | force position hybrid control for cable driven parallel robots based on the system stiffness |
| topic | Cable-driven parallel robot Supporting stiffness Force/position hybrid control Mobile platform Position |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.08.018 |
| work_keys_str_mv | AT chenkeju forcepositionhybridcontrolforcabledrivenparallelrobotsbasedonthesystemstiffness AT zhangshangying forcepositionhybridcontrolforcabledrivenparallelrobotsbasedonthesystemstiffness AT zhangjilei forcepositionhybridcontrolforcabledrivenparallelrobotsbasedonthesystemstiffness AT luoshiyang forcepositionhybridcontrolforcabledrivenparallelrobotsbasedonthesystemstiffness AT zhangbowei forcepositionhybridcontrolforcabledrivenparallelrobotsbasedonthesystemstiffness |