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

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