Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches

Jeremy Begey (1) , Loic Cuvillon (1) , Maximilian Lesellier (2, 1) , Marc Gouttefarde (2) , Jacques Gangloff (1)

1 ICube - Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie
2 DEXTER - Robotique médicale et mécanismes parallèles

An alternative approach to standard computed torque with feedback linearization is proposed in this paper to control cable-driven parallel robots (CDPRs) with highly flexible cables. Exteroceptive feedback is used to measure the end-effector Cartesian position at a high sampling rate. Stability is demonstrated using singular perturbation theory. The proposed control scheme is experimentally validated on a planar 3-degree-of-freedom CDPR and its efficiency is assessed by comparison with a simple kinematic control law.

Mots clés: Parallel robots; Dynamics; Flexible cables; Singular perturbation; Motion control

Domaines: Automatique / Robotique

Jeremy Begey, Loic Cuvillon, Maximilian Lesellier, Marc Gouttefarde, Jacques Gangloff. Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches. IEEE Transactions on Robotics, 2019, 35 (1), pp.286-293. ⟨10.1109/TRO.2018.2875415⟩. ⟨lirmm-02087410v2⟩