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고성영,전종표,Xuemei Jin,Andreas Pott,박석호,박종오 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.4
This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planarcable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme sothat an external wrench error is used for modification of the pose of an end-effector in Cartesian space. Since theCDPR system is different from that of conventional serial or mobile robots, the control algorithm is constructed so asto convert the desired position of the end-effector into the desired cable lengths, to convert the measured tension ofcables into the estimated wrench, and to modify the desired Cartesian position of the end-effector using the wrenchdifference and the admittance control scheme. Instead using two selection matrices at both the position-control loopand the force-control loop, one selection matrix is used to modify the desired position using the wrench difference. To evaluate the proposed algorithm, an experimental setup using the 3-DOF planar CDPR is constructed. A seriesof experiments shows that the external wrench is well-calculated using the cable tensions, and that the force controlalone and the hybrid position/force control for CDPR are implemented with sufficient control performance.
Four-cable-driven parallel robot
XueJun Jin,Dae Ik Jun,Andreas Pott,Sukho Park,Jong-Oh Park,Seong Young Ko 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper presents design and kinematic analysis for a cable-driven parallel robotic (CDPR) manipulator with four cables, The CDPR manipulator produces a planar motion including two translational and one rotational degrees of freedom. To move the end-effector of CDPR, its kinematic structure is analyzed and the inverse kinematics is formulated in the closed-form solution. The experimental tests using an implemented prototype have shown the feasibility of the system design and its operation.
Black-Box Accuracy Compensation for a Cable-Driven Parallel Robot
Valentin Schmidt,Werner Kraus,Christoph Martin,Xuejun Jin,Andreas Pott 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper presents the findings of experiments done to increase the accuracy of a fully constrained cabledriven parallel robot with 8 cables and 6 degrees of freedom. Measurements were conducted using a Laser Tracker in 3 dof and the position accuracy mapped. Measurements were performed in a grid with 1920 points. From the measurement data distortion to the actual desired position is measured and using a linear approximation subsequent trajectories are compensated for any systematic errors. On an example robot, this black box correction brought an average improvement from 10.6 mm distance to the desired point to 2.47 mm distance from the desired point. This is a significant improvement m accuracy.