Title :
Maintaining positive cable tensions during operation of a single degree of freedom flexible cable-driven parallel manipulator
Author :
Caverly, Ryan James ; Forbes, James Richard
Author_Institution :
Dept. of Aerosp. Eng., Univ. of Michigan, Ann Arbor, MI, USA
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.
Keywords :
closed loop systems; flexible manipulators; input-output stability; linear programming; motion control; numerical analysis; tensile strength; torque control; CDPM; closed-loop system; control architecture; control torque limits; element-wise inequality; equations of motion; input-output stable; linear programming problem; numerical simulation; passive system; positive cable tensions; saturation prevention function; single degree of freedom flexible cable-driven parallel manipulator; Feedback control; Force; Linear programming; Manipulators; Payloads; Torque; Winches;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7170897