Optimization and Control of a Planar Three Degrees of Freedom Manipulator with Cable Actuation

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Optimization and Control of a Planar Three Degrees of Freedom Manipulator with Cable Actuation

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Optimization and Control of a Planar Three Degrees of Freedom Manipulator with Cable Actuation

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

<a href="/cs/project/GA20-21893S" target="_blank" >GA20-21893S: Mechatronické tensegrity pro energeticky efektivní lehké roboty</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Machines

ISSN

2075-1702

e-ISSN

2075-1702

Svazek periodika

9

Číslo periodika v rámci svazku

12

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

21

Strana od-do

1-21

Kód UT WoS článku

000738166400001

EID výsledku v databázi Scopus

2-s2.0-85121675770