Maintaining positive cable tensions during operation of a single degree of freedom flexible cable-driven parallel manipulator

Ryan Caverly, James Richard Forbes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

This paper investigates the control of a single degree of freedom flexible cable-driven parallel manipulator (CDPM) with a focus on maintaining positive cable tensions. A control architecture that uses a particular saturation prevention function is used to force the control torques to remain within limits that maintain positive cable tensions. The maximum and minimum allowable control torque limits are calculated by solving a linear programming problem on an element-wise inequality involving the equations of motion of the system. It is shown that the controller is input strictly passive and the closed-loop system is input-output stable. Numerical simulation results compare the performance of the proposed controller to that of an existing controller from the literature.

Original languageEnglish (US)
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1205-1210
Number of pages6
Volume2015-July
ISBN (Electronic)9781479986842
DOIs
StatePublished - Jan 1 2015
Externally publishedYes
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: Jul 1 2015Jul 3 2015

Other

Other2015 American Control Conference, ACC 2015
CountryUnited States
CityChicago
Period7/1/157/3/15

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