Cable-Driven Parallel Robots (CDPRs) form a class of robots well-adapted to large workspaces since they replace rigid links by cables. However, they lack in positioning accuracy. In a previous work, a control law has been proposed to enable a CDPR to perform a profile-following task, based on the data measured by two different and redundant sensors that are fused using the Gradient Projection Method (GPM). However, its robustness had not been assessed yet. This paper analyzes the stability of such a control law in function of the systematic errors on the parameters of the system. Numerical simulations show that the characteristics of the system ensure the stability of the control law in the robot workspace even in the presence of significant errors, provided the initial angle between the surface to follow and the moving-platform is smaller than 11\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$^{\circ }$$\end{document}.
Stability Analysis of Profile Following by a CDPR Using Distance and Vision Sensors
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023
2023-06-03
13 pages
Article/Chapter (Book)
Electronic Resource
English
IPAnema Silent: A CDPR for Spatial Hearing Experiments
Springer Verlag | 2023
|Advances in the Use of Neural Network for Solving the Direct Kinematics of CDPR with Sagging Cables
Springer Verlag | 2023
|Safe distance car-following model including backward-looking and its stability analysis
Tema Archive | 2013
|Distance Measurement Using Near Infrared Sensors
Springer Verlag | 2015
|