This work proposes a novel Model Predictive Control (MPC) algorithm for Cable- Driven Robots (CDRs), with a suspended configuration, to achieve good performances in terms of trajectory tracking of the end-effector as well as ensuring the positiveness of cable tensions. A two-stage controller is exploited to handle model nonlinearities. Firstly, a position-dependent MPC algorithm with embedded integrator is designed to evaluate the optimal cable tensions that are required to track trajectory, while considering constraints on the feasible tensions. Secondly, the related motor torques are evaluated taking into account the dynamics of the electric motor themselves, through a dedicated feedforward approach. With the goal to assess the proposed control algorithm, a 3-dof cable suspended spatial robot is considered and different trajectory tracking tasks are performed: firstly, an unfeasible reference is tested in order to assess the control algorithm in the worstcase scenario and, secondly, ...

Path tracking in cable suspended parallel robots through position-dependent model predictive control with embedded integrator

Jason Bettega;Dario Richiedei;Alberto Trevisani
2021

Abstract

This work proposes a novel Model Predictive Control (MPC) algorithm for Cable- Driven Robots (CDRs), with a suspended configuration, to achieve good performances in terms of trajectory tracking of the end-effector as well as ensuring the positiveness of cable tensions. A two-stage controller is exploited to handle model nonlinearities. Firstly, a position-dependent MPC algorithm with embedded integrator is designed to evaluate the optimal cable tensions that are required to track trajectory, while considering constraints on the feasible tensions. Secondly, the related motor torques are evaluated taking into account the dynamics of the electric motor themselves, through a dedicated feedforward approach. With the goal to assess the proposed control algorithm, a 3-dof cable suspended spatial robot is considered and different trajectory tracking tasks are performed: firstly, an unfeasible reference is tested in order to assess the control algorithm in the worstcase scenario and, secondly, ...
2021
Proceedings of the 10th ECCOMAS Thematic Conference on Multibody Dynamics
10th ECCOMAS Thematic Conference on Multibody Dynamics
9789634218708
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11577/3416536
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