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

Ryan James Caverly; James Richard Forbes

doi:10.1109/ACC.2015.7170897

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

Ryan James Caverly, James Richard Forbes

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	ACC 2015 - 2015 American Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1205-1210
Number of pages	6
ISBN (Electronic)	9781479986842
DOIs	https://doi.org/10.1109/ACC.2015.7170897
State	Published - Jul 28 2015
Externally published	Yes
Event	2015 American Control Conference, ACC 2015 - Chicago, United States Duration: Jul 1 2015 → Jul 3 2015

Publication series

Name	Proceedings of the American Control Conference
Volume	2015-July
ISSN (Print)	0743-1619

Conference

Conference	2015 American Control Conference, ACC 2015
Country/Territory	United States
City	Chicago
Period	7/1/15 → 7/3/15

Bibliographical note

Publisher Copyright:
© 2015 American Automatic Control Council.

Publisher link

10.1109/ACC.2015.7170897

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Caverly, R. J., & Forbes, J. R. (2015). Maintaining positive cable tensions during operation of a single degree of freedom flexible cable-driven parallel manipulator. In ACC 2015 - 2015 American Control Conference (pp. 1205-1210). Article 7170897 (Proceedings of the American Control Conference; Vol. 2015-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2015.7170897

Maintaining positive cable tensions during operation of a single degree of freedom flexible cable-driven parallel manipulator. / Caverly, Ryan James; Forbes, James Richard.
ACC 2015 - 2015 American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1205-1210 7170897 (Proceedings of the American Control Conference; Vol. 2015-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Caverly, RJ & Forbes, JR 2015, Maintaining positive cable tensions during operation of a single degree of freedom flexible cable-driven parallel manipulator. in ACC 2015 - 2015 American Control Conference., 7170897, Proceedings of the American Control Conference, vol. 2015-July, Institute of Electrical and Electronics Engineers Inc., pp. 1205-1210, 2015 American Control Conference, ACC 2015, Chicago, United States, 7/1/15. https://doi.org/10.1109/ACC.2015.7170897

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AB - 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.

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

Abstract

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