Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Modeling, Simulation, and Control of a “Sensorless” Cable-Driven Robot
Date
2023-01-01
Author
DURMAZ, ATAKAN
Albayrak, Özlem
Ünal, Perin
Ankaralı, Mustafa Mert
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
49
views
0
downloads
Cite This
This paper focuses on the modeling, simulation, control, and experimental validation of a planar cable-driven robot system that operates on the vertical (x-z) plane. Cable-driven robots have recently gained significant attention due to their successful commercial applications, such as spider cameras in large areas like stadiums. In this study, we model the robotic system as a planar dynamical system driven by visco-elastic tension elements (i.e., cables) attached between the four corners of the rectangular end-effector and corners of the workspace where the electric motors are connected. We assume that limited sensory information is available to the controller, such that we can only measure motor torque, and no direct information is available from the end-effector. This sensorless measurement assumption poses significant control challenges. We propose a novel control approach that adopts a parallel feedforward velocity and feedback force/torque control topology. The control inputs of the system are assumed to be the reference motor velocities, as we utilize industrial servo controllers with built-in velocity control capabilities. We model the motor dynamics as a first-order low-pass filter to account for the phase lag between the reference and actual motor commands. We first simulate the closed-loop system and test the effectiveness of the control policy under different unknown system parameters such as stiffness, damping, and motor lag. We then experimentally verify the topology on an actual experimental setup. We believe that these results are promising for future cable-driven robotic applications, especially for systems with limited sensory equipment.
Subject Keywords
Cable-driven mechanism
,
parallel feedforward and feedback control
,
sensorless control
,
series-elastic-actuation
URI
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85163947654&origin=inward
https://hdl.handle.net/11511/104548
DOI
https://doi.org/10.1007/978-3-031-32322-5_16
Conference Name
6th International Conference on Cable-Driven Parallel Robots, CableCon 2023
Collections
Department of Electrical and Electronics Engineering, Conference / Seminar
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
A. DURMAZ, Ö. Albayrak, P. Ünal, and M. M. Ankaralı, “Modeling, Simulation, and Control of a “Sensorless” Cable-Driven Robot,” Nantes, Fransa, 2023, vol. 132, Accessed: 00, 2023. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85163947654&origin=inward.