Authors

Christian Schenk, Burak Yüksel, Cristian Secchi, Heinrich H. Bülthoff

Abstract

In this paper we present a generic Port-Hamiltonian (PH) model that includes cable dynamics (in particular elasticity and couplings with the platform and all cables among each other) of a cable-driven parallel robot (CDPR), which is used as a motion simulator. Moreover we consider changes in the cable parameters, i.e. it’s elasticity, mass and length when the cables are wound/unwound from the winches. To the best of our knowledge nobody considered such a detailed and generic model of a CDPR in PH structure before. Since motion simulators are built to mimic systems with different physical properties, PH modeling can pave the way for physics-shaping controllers.

Keywords

Cable-Driven parallel robots; finite-element modelling; hybrid/switching systems; elasticity

Citation

  • Journal: IFAC-PapersOnLine
  • Year: 2018
  • Volume: 51
  • Issue: 3
  • Pages: 161–168
  • Publisher: Elsevier BV
  • DOI: 10.1016/j.ifacol.2018.06.047
  • Note: 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2018

BibTeX

@article{Schenk_2018,
  title={{Port Hamiltonian Modeling of a Cable Driven Robot}},
  volume={51},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2018.06.047},
  number={3},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Schenk, Christian and Yüksel, Burak and Secchi, Cristian and Bülthoff, Heinrich H.},
  year={2018},
  pages={161--168}
}

Download the bib file

References

  • (2015). Cablerobot simulato. URL https://www.mpg.de/9395107/seilroboter
  • Andersen, T., Le Coroller, H., Owner-Petersen, M., and Dejonghe, J. (2014). Linearized model of an actively controlled cable for a carlina diluted telescope. 153–173.
  • Berlioz, A. & Lamarque, C.-H. A non-linear model for the dynamics of an inclined cable. Journal of Sound and Vibration vol. 279 619–639 (2005) – 10.1016/j.jsv.2003.11.069
  • Caverly, R. J. & Forbes, J. R. Dynamic Modeling and Noncollocated Control of a Flexible Planar Cable-Driven Manipulator. IEEE Transactions on Robotics vol. 30 1386–1397 (2014) – 10.1109/tro.2014.2347573
  • Caverly, R. J., Forbes, J. R. & Mohammadshahi, D. Dynamic Modeling and Passivity-Based Control of a Single Degree of Freedom Cable-Actuated System. IEEE Transactions on Control Systems Technology vol. 23 898–909 (2015) – 10.1109/tcst.2014.2347807
  • Diao, (2009)
  • Duan, B., Qiu, Y., Zhang, F., and Zi, B. (2008). Analysis and experiment of the feed cable-suspended structure for super antenna. In IEEE International Conference on Advanced Intelligent Mechatronics, 329–334.
  • El-Ghazaly, Adaptive terminal sliding mode control of a redundantly-actuated cable-driven parallel manipulator: CoGiRo. (2015)
  • Enmark, Integrated model of the carlina telescope (2011)
  • Godbole, H.A., Caverly, R.J., and Forbes, J.R. (2017). Modelling of flexible cable-driven parallel robots using a rayleigh-ritz approach. In Proceedings of the Third International Conference on Cable-Driven Parallel Robots, 3–14. Springer.
  • Goldstein, (2000)
  • Hui, L. (2015). On the static stiffness of incompletely restrained cable-driven robot. In T. Bruckmann, A. Pott (eds.), Proceedings of the Second International Conference on Cable-Driven Parallel Robots, volume 32 of Cable-Driven Parallel Robots, 55–69. SpringerBerlin.
  • Irvine, The linear theory of free vibrations of a suspended cable. (1974)
  • Khosravi, Experimental performance of robust pid controller on a planar cable robot. (2013)
  • Lamaury, J., Gouttefarde, M., Chemori, A. & Herve, P.-E. Dual-space adaptive control of redundantly actuated cable-driven parallel robots. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems 4879–4886 (2013) doi:10.1109/iros.2013.6697060 – 10.1109/iros.2013.6697060
  • Masone, C., Robuffo Giordano, P. & Bulthoff, H. H. Mechanical design and control of the new 7-DOF CyberMotion simulator. 2011 IEEE International Conference on Robotics and Automation 4935–4942 (2011) doi:10.1109/icra.2011.5980436 – 10.1109/icra.2011.5980436
  • Miermeister, P., Kraus, W., Tian, L., and Pott, A. (2014). An elastic cable model for cable-driven parallel robots including hysteresis effects. In Proceedings of the Second International Conference on Cable-Driven Parallel Robots, 17–29. Duisburg, Germany.
  • Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica vol. 38 585–596 (2002) – 10.1016/s0005-1098(01)00278-3
  • Philipp, M., Masone, C., Heinrich, H., and Joachim, T. (2016). The cablerobot simulator - large scale motion platform based on cable robot technology. In IEEE International Conference on Intelligent Robots and Systems.
  • Schenk, C., Masone, C., Miermeister, P. & Bulthoff, H. H. Modeling and analysis of cable vibrations for a cable-driven parallel robot. 2016 IEEE International Conference on Information and Automation (ICIA) 454–461 (2016) doi:10.1109/icinfa.2016.7831867 – 10.1109/icinfa.2016.7831867
  • Spydercam (2000). URL http://dev.spidercam.org/.
  • Starossek, U. Dynamic Stiffness Matrix of Sagging Cable. Journal of Engineering Mechanics vol. 117 2815–2828 (1991) – 10.1061/(asce)0733-9399(1991)117:12(2815)
  • Surdilovic, D. & Bernhardt, R. STRING-MAN: a new wire robot for gait rehabilitation. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA ’04. 2004 2031-2036 Vol.2 (2004) doi:10.1109/robot.2004.1308122 – 10.1109/robot.2004.1308122
  • van der Schaft, (2014)
  • Venrooij, J., Cleij, D., Katliar, M., Pretto, P., Bülthoff, H., Steffen, D., Hoffmeyer, F., and Schöner, H. (2016). Comparison between filter-and optimization-based motion cueing in the daimler driving simulator.
  • Weber, X., Cuvillon, L. & Gangloff, J. Active vibration canceling of a cable-driven parallel robot in modal space. 2015 IEEE International Conference on Robotics and Automation (ICRA) 1599–1604 (2015) doi:10.1109/icra.2015.7139402 – 10.1109/icra.2015.7139402
  • Yuan, H., Courteille, E., and Dominique, D. (2014). Elas-todynamic analysis of cable-driven parallel manipulators considering dynamic stiffness of sagging cables. In IEEE International Conference on Robotics and Automation, 4055–4060.
  • Yüksel, (2017)
  • Yuksel, B., Secchi, C., Bulthoff, H. H. & Franchi, A. Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction. 2014 IEEE International Conference on Robotics and Automation (ICRA) 6258–6265 (2014) doi:10.1109/icra.2014.6907782 – 10.1109/icra.2014.6907782
  • Zhao, J. & Hill, D. J. Dissipativity Theory for Switched Systems. IEEE Transactions on Automatic Control vol. 53 941–953 (2008) – 10.1109/tac.2008.920237
  • Zhao, J. & Hill, D. J. Passivity and stability of switched systems: A multiple storage function method. Systems & Control Letters vol. 57 158–164 (2008) – 10.1016/j.sysconle.2007.08.011