首页|Findings from University of Alberta Yields New Findings on Robotics (Non-iterative Positive Constrained Control of Cable-driven Parallel Robots)
Findings from University of Alberta Yields New Findings on Robotics (Non-iterative Positive Constrained Control of Cable-driven Parallel Robots)
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Investigators publish new report on Robotics. According to news reporting originating in Edmonton, Canada, by NewsRx journalists, research stated, "In cable-driven parallel robots (CDPRs), the controller should generate positive output forces, as cables only support tensile forces. In fully-constrained CDPRs, positive tension distribution in cables is guaranteed using optimization-based techniques, which have unpredictable worst-case computation time." The news reporters obtained a quote from the research from the University of Alberta, "Furthermore, the optimization-based methods fail to handle situations where the initial pose of the end-effector is beyond the wrench-feasible workspace (WFW). To address the existing problems, we introduce a new representation of the dynamic model of CDPRs by including cable tension positiveness as an inherent part of the dynamic, using an absolute function. This leads to a non-affine dynamic model, which is then converted to the affine form, for which a robust super-twisting sliding mode controller is designed. The stability of the closed-loop system is guaranteed via the Lyapunov direct method, where H1 asymptotic stability is proved with parameters derived by solving a linear matrix inequality. The superiority of the proposed method is validated in both simulation and experiment. The analytical nature of the method also allows dramatic improvement in the computation time of the control compared to the optimization-based methods in the literature."
EdmontonCanadaNorth and Central AmericaEmerging TechnologiesMachine LearningNano-robotRoboticsUniversity of Alberta
NETL
NSTL
IEEE
