Motor Current Based Force Control of Simple Cable-Driven Parallel Robots

Research output: Contribution to book/Conference proceedings/Anthology/ReportChapter in book/Anthology/ReportContributedpeer-review

Contributors

Abstract

State of the art cable-driven parallel robots achieve high precision and reliability using a complex setup. The complexity results largely from the integration of force sensors which are omitted in the presented design. Instead, a motor current based approach is proposed to determine the cable forces. Therefore, methods are employed to compensate the cogging torque of the motor and frictional forces along the transmission path from the motor torque to the acting force at the platform. Despite the compensation, it is useful to reduce the overall frictional forces. Therefore, a gearless design scheme with a single pivoting pulley for cable guidance is realized. The proposed approach enables the application of advanced control methods for simple cable-driven robots.

Details

Original languageEnglish
Title of host publicationCable-Driven Parallel Robots
EditorsMarc Gouttefarde, Tobias Bruckmann, Andreas Pott
PublisherSpringer, Cham
Pages271-283
Number of pages13
Volume104
ISBN (electronic)978-3-030-75789-2
ISBN (print)978-3-030-75791-5, 978-3-030-75788-5
Publication statusPublished - 1 Jun 2021
Peer-reviewedYes

Publication series

SeriesMechanisms and Machine Science
Volume104
ISSN2211-0984

External IDs

Scopus 85107332452
ORCID /0000-0003-3296-7622/work/159041895
ORCID /0000-0003-1288-3587/work/159170263
ORCID /0000-0003-3695-0879/work/159171541

Keywords

Keywords

  • Cable-driven parallel robot, Cogging compensation, Force control, Friction compensation, Gearless, Motor current