Open Access Open Access  Restricted Access Subscription Access

A Smoothing Motion Method for High-Speed Cable-Driven Parallel Camera Robots


Affiliations
1 College of Mechanical and Electrical Engineering, Foshan University, Foshan 528000, China
2 School of Electro-Mechanical Engineering, Xidian University, Xi’an 710071, China
3 School of Mechatronic Engineering, Xi’an Technological University, Xi’an 710021, China
 

This study discusses trajectory planning based on a higher-order polynomial interpolation and the smoothing motion control method of high speed cabledriven parallel camera robots. High speed and high manoeuverability of cable-driven parallel robots make it difficult to achieve stable flexible starting and fast reversing motion. In the existing literature, smoothing motion methods for high-speed cable-driven parallel robots are not adequately considered. For this purpose, first, the transition trajectories of start–stop and turning of the cable-driven parallel robots are planned based on a higher order polynomial interpolation. Further, on the basis of the system dynamic model and the PD feed-forward controller, a disturbance observer is applied in order to inhibit the disturbances from trajectory mutation. Then the stability of the hybrid control strategy is proved. Finally, the main factors which influence the smoothing motion are discussed using numerical simulations and experimental tests. The results indicate that the smoothing motion method consisting of higher-order polynomial interpolation and the disturbance observer are both effective and feasible for engineering applications.

Keywords

Camera Robots, Hybrid Control Strategy, Stability Analysis, Transition Trajectory.
User
Notifications
Font Size

  • Alikhani, A., Behzadipour, S. and Alasty, L. A., Design of a largescale cable-driven robot with translational motion. Robot. Comput.-Integr. Manuf., 2011, 27(2), 357–366.
  • Mao, Y. and Agrawal, S. K., Design of a cable-driven arm exoskeleton (CAREX) for neural rehabilitation. IEEE Trans. Robot., 2012, 28(4), 922–931.
  • Li, C. D., Yi, J. Q. and Yu, Y., Inverse control of cable-driven parallel mechanism using type-2 fuzzy neural network. Acta Automat. Sin., 2010, 36(3), 459–464.
  • Xiao, Y. W., Lin, Q. and Zheng, Y. Q., Model aerodynamic tests with a wire-driven parallel suspension system in low-speed wind tunnel. Chin. J. Aeronaut., 2010, 23, 393–400.
  • Zi, B. et al., Dynamic modeling and active control of a cablesuspended parallel robot. Mechatronics, 2008, 18, 1–12.
  • Qiu, Y. Y. et al., Elimination of force singularity of the cable and cabin structure for the next generation large radio telescope. Mechatronics, 2002, 12(7), 905–918.
  • Vincent, T. L., Stabilization for film and broadcast cameras. IEEE Control Syst. Mag., 2008, 2, 20–25.
  • Wei, H. L., Qiu, Y. Y. and Yang, J., An approach to evaluate stability for cable-based parallel camera robots with hybrid tension-stiffness properties. Int. J. Adv. Robotic Syst., 2015, 12(185), 1–12.
  • Kawamura, S., Development of an ultrahigh speed robot FALCON using wire drive system. J. Robot. Soc. Jpn., 1997, 15(1), 82–89.
  • Oh, S. R. and Agrawal, S. K., A control Lyapunov approach for feedback control of cable-suspended robots. Proceedings of the IEEE International Conference on Robotics and Automation, Roma, 2007, pp. 4544–4549.
  • Carricato, M. and Merlet, J. P., Stability analysis of under constrained cable-driven parallel robots. IEEE Trans. Robot., 2013, 1(29), 288–296.
  • Khosravi, M. A. and Taghirad, H. D., Robust PID control of fullyconstrained cable driven parallel robots. Mechatronics, 2014, 24, 87–97.
  • Du, J. L. et al., Dynamic analysis of cable-driven parallel manipulators using a variable length finite element. J. Comput. Nonlinear Dyn., 2015,10, 1–6.
  • Du, J. L. and Agrawal, S. K., Dynamic modeling of cable-driven parallel manipulators with distributed mass flexible cables. J. Vibr. Acoust., 2015, 137, 1–8.
  • Liu, P. et al., On the minimum cable tensions for the cable-driven parallel robots. J. Appl. Math., 2014, article id. 350492, 1–8.
  • Su, Y., Qiu, Y. Y. and Liu, P., Optimal cable tension distribution of the high-speed redundant driven camera robots considering cable sag and inertia effects. Adv. Mech. Eng., 2015, article id. 729020, 1–11.
  • Su, Y., Qiu, Y. Y. and Liu, P., The continuity and real-time performance of the cable tension determining for a suspend cabledriven parallel camera robot. Adv. Robot., 2015, 29(12), 743–752.
  • Wei, H. L., Qiu, Y. Y. and Su, Y., Motion control strategy and stability analysis for high speed cable-driven camera robots with cable inertia effects. Int. J. Adv. Robot. Syst., 2016, 13, 1–14.
  • Cai, Z. X., Robotics, Tsinghua University Publishing House, Beijing, China, 2009.
  • Riehl, N. et al., Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms. In Proceedings of IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009, pp. 2193–2198.
  • Shen, S. Z., Xu, C. B. and Zhao, C., Cable Structure Design, China Architecture & Building Press, Beijing, China, 2006.
  • Irivne, H. M., Cable Structures, MIT Press, Cambridge, 1981.
  • Liu, J. K., Advanced PID Control and MATLAB Simulation, Electronics Industry Press, Beijing, 2003.
  • Arimoto, S., Control Theory of Non-linear Mechanical Systems, Clarendon Press, Oxford, UK, 1996.
  • Wang, Y. Z., Dynamic Analysis of Cable-driven Parallel Robots with Cable Elastic Vibration, Xidian University, Xi’an, 2012.
  • Qiu, Y. Y., Duan, B. Y. and Wei, Q., Optimal distribution of the cable tensions and structural vibration control of the cable-cabin flexible structure. Struct. Eng. Mech., 2002, 14(1), 39–56.
  • Slotine, J. J. E. and Li, W. P., Applied Nonlinear Control, Prentice Hall, NJ, USA, 1991.

Abstract Views: 9

PDF Views: 0




  • A Smoothing Motion Method for High-Speed Cable-Driven Parallel Camera Robots

Abstract Views: 9  |  PDF Views: 0

Authors

Huiling Wei
College of Mechanical and Electrical Engineering, Foshan University, Foshan 528000, China
Yuanying Qiu
School of Electro-Mechanical Engineering, Xidian University, Xi’an 710071, China
Yu Su
School of Mechatronic Engineering, Xi’an Technological University, Xi’an 710021, China
Ying Sheng
School of Electro-Mechanical Engineering, Xidian University, Xi’an 710071, China

Abstract


This study discusses trajectory planning based on a higher-order polynomial interpolation and the smoothing motion control method of high speed cabledriven parallel camera robots. High speed and high manoeuverability of cable-driven parallel robots make it difficult to achieve stable flexible starting and fast reversing motion. In the existing literature, smoothing motion methods for high-speed cable-driven parallel robots are not adequately considered. For this purpose, first, the transition trajectories of start–stop and turning of the cable-driven parallel robots are planned based on a higher order polynomial interpolation. Further, on the basis of the system dynamic model and the PD feed-forward controller, a disturbance observer is applied in order to inhibit the disturbances from trajectory mutation. Then the stability of the hybrid control strategy is proved. Finally, the main factors which influence the smoothing motion are discussed using numerical simulations and experimental tests. The results indicate that the smoothing motion method consisting of higher-order polynomial interpolation and the disturbance observer are both effective and feasible for engineering applications.

Keywords


Camera Robots, Hybrid Control Strategy, Stability Analysis, Transition Trajectory.

References





DOI: https://doi.org/10.18520/cs%2Fv117%2Fi12%2F2040-2048