Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot

被引：44
|
作者：
Zake, Zane [1 ,2 ]
Chaumette, Francois [3 ]
Pedemonte, Nicolo [2 ]
Caro, Stephane [1 ,4 ]
机构：
[1] Lab Sci Numer Nantes, UMR CNRS 6004, F-44321 Nantes, France
[2] IRT Jules Verne, F-44340 Bouguenais, France
[3] Univ Rennes, CNRS, IRISA, INRIA, F-35042 Rennes, France
[4] CNRS, F-44321 Nantes, France
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2019年 / 4卷 / 02期
关键词：
Parallel robots; visual servoing; motion control; sensor-based control; tendon/wire mechanism;
D O I：
10.1109/LRA.2019.2893611
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In cable-driven parallel robots (CDPRs), rigid links are substituted by flexible cables. This change in actuation allows for a large workspace with a high payload to weight ratio, among other appealing characteristics. However, the accuracy for such systems needs to be improved to truly outperform classical parallel robots. A possible and not yet well studied solution is the use of vision-based control for CDPRs. This letter deals with the stability analysis of such a control scheme with regard to uncertainties lying both in the analytical models and the experimental setup. Two CDPRs are analyzed as illustrative examples. The results obtained show the system's robustness with respect to uncertainties.
引用
收藏
页码：1029 / 1036
页数：8
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