This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority of pick-and-place operations.

    Knowledge about the task is directly taken into account when specifying the control execution. The natural dynamics of the system can be exploited when there is a tolerance on the position of the trajectory. Brakes are actively used to replace standstill torques, and as passive actuation. This is executed with a hybrid discrete-continuous controller. A discrete controller is used to specify and coordinate between subtasks, and based on the requirements of these specific subtasks, specific, robust, continuous controllers are constructed. This approach allows for less stiff and thus saver, and cheaper hardware to be used. For a planar pick-and-place operation, it was found that this results in energy savings of more than 30 % \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$30\%$$\end{document}. However, when the payload moves with the natural dynamics, there is less control of the followed trajectory and its timing compared to a traditional trajectory-based execution. Also, the presented approach implies a fundamentally different way to specify and execute tasks.


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    Title :

    Energy-Efficient Control of Cable Robots Exploiting Natural Dynamics and Task Knowledge


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

    International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023


    Published in:

    Cable-Driven Parallel Robots ; Chapter : 15 ; 184-196


    Publication date :

    2023-06-03


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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