Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles IEEE Robotics and Automation Letters Year : 2019

Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot

Abstract

In Cable-Driven Parallel Robots (CDPRs) rigid links are substituted by flexible cables. This change in actuation allows for a large workspace with a high payload to weight ratio, among other appealing characteristics. However, the accuracy for such systems needs to be improved to truly outperform classical parallel robots. A possible and not yet well studied solution is the use of vision-based control for CDPRs. This paper deals with the stability analysis of such a control scheme with regard to uncertainties lying both in the analytical models and the experimental setup. Two CDPRs are analyzed as illustrative examples. The results obtained show the system's robustness with respect to uncertainties.
Fichier principal
Vignette du fichier
IEEE_RA-L_2019_HAL_Zake_Chaumette_Pedemonte_Caro.pdf (1.8 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01987856 , version 1 (29-01-2019)

Identifiers

Cite

Zane Zake, François Chaumette, Nicolò Pedemonte, Stéphane Caro. Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot. IEEE Robotics and Automation Letters, 2019, 4 (2), pp.1029-1036. ⟨10.1109/lra.2019.2893611⟩. ⟨hal-01987856⟩
331 View
816 Download

Altmetric

Share

Gmail Facebook X LinkedIn More