Abstract
A winch-integrated cable-driven parallel robot (WICDPR) is a cable robot with winches mounted on the mobile platform. Such configuration leads to dynamic coupling effects between the winches and the mobile platform. The coupling effects, along with the elasticity of the cables, can cause unexpected vibrations in robot motion. In this paper, a controller design method for the WICDPRs considering cable elasticity and dynamic coupling effects is proposed based on the singular perturbation theory. Firstly, the elastic dynamic model of the WICDPRs is established by considering the cable as an axial spring. Using the singular perturbation method, the elastic system is decomposed into two subsystems: a reduced-order system and a boundary layer system, achieving decoupling between rigid dynamics and elastic behavior. Then, the stability conditions of the overall closed-loop system are given by using the Tikhonov’s theorem, and a composite controller comprising a rigid controller and an auxiliary controller is designed based on the stability conditions. Finally, the effectiveness of the proposed control scheme is verified through simulations.
Supported by the National Natural Science Foundation of China (Grant No. 51975044 and No. 51975307).
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Li, D., Hou, S., Wang, Y., Tang, X. (2023). Dynamic Modeling and Control of Winch-Integrated Cable-Driven Parallel Robots Using Singular Perturbation Method. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14273. Springer, Singapore. https://doi.org/10.1007/978-981-99-6498-7_34
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