Optimization and Control of a Planar Three Degrees of Freedom Manipulator with Cable Actuation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F21%3A00354211" target="_blank" >RIV/68407700:21220/21:00354211 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.3390/machines9120338" target="_blank" >https://doi.org/10.3390/machines9120338</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/machines9120338" target="_blank" >10.3390/machines9120338</a>
Alternative languages
Result language
angličtina
Original language name
Optimization and Control of a Planar Three Degrees of Freedom Manipulator with Cable Actuation
Original language description
The paper analyzes a planar three degrees of freedom manipulator with cable actuation. Such a system can be understood as a special type of hybrid parallel kinematic mechanism composed of the rigid serial chain and the additional auxiliary cable system. The advantage of the auxiliary cable mechanism is the ability to reconfigure the whole system. The fulfillment of sufficient prestressing is the constraint of the optimization process. Computed Torque Control with a cable force distribution algorithm is implemented. The control algorithm performance is examined on different trajectories, including non-smooth motion requests, and its robustness is tested by randomly generated errors of the model parameters in regulators. The results demonstrate that the optimized structure is capable of controlling the manipulator motion and keeping the cable prestressing within the given limits.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
<a href="/en/project/GA20-21893S" target="_blank" >GA20-21893S: Mechatronic tensegrities for energy efficient light robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Machines
ISSN
2075-1702
e-ISSN
2075-1702
Volume of the periodical
9
Issue of the periodical within the volume
12
Country of publishing house
CH - SWITZERLAND
Number of pages
21
Pages from-to
1-21
UT code for WoS article
000738166400001
EID of the result in the Scopus database
2-s2.0-85121675770