پیوندهای مفید
آمار
| تعداد نشریات | 9 |
| تعداد شمارهها | 448 |
| تعداد مقالات | 5,737 |
| تعداد مشاهده مقاله | 8,058,913 |
| تعداد دریافت فایل اصل مقاله | 6,556,003 |
Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables | ||
| AUT Journal of Electrical Engineering | ||
| مقاله 6، دوره 48، شماره 2، بهمن 2016، صفحه 113-126 اصل مقاله (4.99 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/eej.2016.821 | ||
| نویسندگان | ||
| M. A. Khosravi* 1؛ Hamid D. Taghirad2 | ||
| 1Assistant Professor, Department of Electrical Engineering, Amirkabir University of Technology | ||
| 2Professor, Faculty of Electrical Engineering, K. N. Toosi University of Technology | ||
| چکیده | ||
| In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly designed and then, this controller is modified for the robots with elastic cables. To overcome vibrations caused by inevitable elasticity of cables, a composite control law is proposed based on singular perturbation theory. The proposed control algorithm includes robust PID control for corresponding rigid model and a corrective term. Using the proposed control algorithm the dynamics of the cable driven robot is divided into slow and fast subsystems. Then, based on the results of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed control law is investigated through several simulations on a planar cable driven robot. | ||
| کلیدواژهها | ||
| Cable Robots؛ Elasticity؛ Singular Perturbation؛ Stability Analysis | ||
| عنوان مقاله [English] | ||
| Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables | ||
| نویسندگان [English] | ||
| M. A. Khosravi1؛ Hamid Taghirad2 | ||
| 1Assistant Professor, Department of Electrical Engineering, Amirkabir University of Technology | ||
| 2Professor, Faculty of Electrical Engineering, K. N. Toosi University of Technology | ||
| چکیده [English] | ||
| In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly designed and then, this controller is modified for the robots with elastic cables. To overcome vibrations caused by inevitable elasticity of cables, a composite control law is proposed based on singular perturbation theory. The proposed control algorithm includes robust PID control for corresponding rigid model and a corrective term. Using the proposed control algorithm the dynamics of the cable driven robot is divided into slow and fast subsystems. Then, based on the results of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed control law is investigated through several simulations on a planar cable driven robot. | ||
| کلیدواژهها [English] | ||
| Cable Robots, Elasticity, Singular Perturbation, Stability Analysis | ||
| مراجع | ||
|
[1] Taghirad, H. D. and Nahon, M.; “Kinematic Analysis of A Macro–Micro Redundantly Actuated Parallel Manipulator,” Advanced Robotics, Vol. 22, No. 6–7, pp. 657–87, 2008.
[2] Kawamura, S.; Kino, H. and Won, C.; “High- Speed Manipulation by Using Parallel Wire-Driven Robots,” Robotica, Vol. 18, No. 3, pp. 13–21, 2000.
[3] Bostelman, R.; Albus, J.; Dagalakis, N. and Jacoff, A.; “Applications of the NIST Robocrane,” Proceedings of the 5th International Symposium on Robotics and Manufacturing, pp. 403–410, 1994.
[4] Roberts, R.; Graham, T. and Lippitt, T.; “On the Inverse Kinematics, Statics, and Fault Tolerance of Cable-Suspended Robots,” Journal of Robotic Systems, Vol. 15, No. 10, pp. 649–661, 1998.
[5] Riechel, A.; Bosscher, P.; Lipkin, H. and Ebert- Uphoff, I.; “Concept Paper: Cable-Driven Robots for Use in Hazardous Environments,” Proceedings of 10th Int. Topical Meet. Robot Remote Syst. Hazardous Environ., Gainesville, pp. 310–317, 2004.
[6] Lim, W. B.; Yang, G.; Yeo, S. H. and Mustafa, S. K.; “A Generic Force-Closure Analysis Algorithm for Cable-Driven Parallel Manipulators,” Mechanism and Machine Theory, Vol. 46, No. 9, pp. 1265–1275, 2011.
[7] Bosscher, P. M.; “Disturbance Robustness Measures and Wrench-Feasible Workspace Generation Techniques for Cable-Driven Manipulators,” Ph.D. Thesis, Georgia Institute of Technology, 2004.
[8] Gouttefarde, M.; “Characterizations of Fully- Constrained Poses of Parallel Cable-Driven Robots: A Review,” Proceedings of the ASME International Design Engineering Technical Conferences, pp. 3–6, 2008.
[9] Bosscher, P. M.; Riechel, A. T. and Ebert-Uphoff, J.; “Wrench-Feasible Workspace Generation for Cable-Driven Robots,” IEEE Trans. on Robotics, Vol. 22, No. 5, pp. 890–902, 2006.
[10] Gouttefarde, M. and Gosselin, C.; “Analysis of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms,” IEEE Trans. on Robotics, Vol. 22, No. 3, pp. 434–445, 2006.
[11] Diao, X. and Ma, O.; “Vibration Analysis of Cable-Driven Parallel Manipulators,” Multibody Syst Dyn, Vol. 21, No. 4, pp. 347–360, 2009.
[12] Alp, A. and Agrawal, S.; “Cable Suspended Robots: Feedback Controllers with Positive Inputs,” Proceedings of the American Control Conference, Vol. 1, pp. 815–820, 2002.
[13] Williams, R. L.; Gallina, P. and Vadia, J.; “Planar Translational Cable Direct Driven Robots,” Journal of Robotic Systems, Vol. 20, No. 3, pp. 107–120, 2003.
[14] Ryoek, S. and Agrawal, S.; “Generation of Feasible Set Points and Control of a Cable Robot,” IEEE Trans. on Robotics, Vol. 22, No. 3, pp. 551– 558, 2006.
[15] Khosravi, M. A. and Taghirad, H. D.; “Robust PID Control of Fully-Constrained Cable Driven Parallel Robots,” Mechatronics, Vol. 24, No. 2, pp. 87–97, 2014.
[16] Kino, H.; Yahiro, T. and Takemura, F.; “Robust PD Control Using Adaptive Compensation for Completely Restrained Parallel-Wire Driven Robots,” IEEE Trans. on Robotics, Vol. 23, No. 4, pp. 803–812, 2007.
[17] Babaghasabha, R.; Khosravi, M. A. and Taghirad, H. D.; “Adaptive Robust Control of Fully-Constrained Cable Driven Parallel Robots,” Mechatronics, Vol. 25, pp. 27–36, 2015.
[18] Khosravi, M. A. and Taghirad, H. D.; “Dynamic Analysis and Control of Cable Driven Robots with Elastic Cables,” Trans. Can. Soc. Mech. Eng., Vol. 35, No. 4, pp. 543–557, 2011.
[19] Khosravi, M. A. and Taghirad, H. D.; “Dynamic Modeling and Control of Parallel Robots with Elastic Cables: Singular Perturbation Approach,” IEEE Trans. on Robotics, Vol. 30, No. 3, pp. 694–704, 2014.
[20] Kokotovic, P.; Khalil, H. K. and O’Reilly, J.; “Singular Perturbation Methods in Control: Analysis and Design,” Academic Press, 1986.
[21] Qu, Z. and Dorsey, J.; “Robust PID Control of Robots,” International Journal of Robotics and Automation, Vol. 6, No. 4, pp. 228–235, 1991.
[22] Qu, Z. and Dawson, D. M.; “Robust Tracking Control of Robot Manipulators,” IEEE Press, 1996.
[23] Ottaviano, E. and Castelli, G.; “A Study on the Effects of Cable Mass and Elasticity in Cable-Based Parallel Manipulators,” ROMANSY 18 Robot Design, Dynamics and Control, Vol. 524, Chapter 1, pp. 149– 156, 2010.
[24] Khosravi, M. A. and Taghirad, H. D.; “Experimental Performance of Robust PID Controller on a Planar Cable Robot,” Proceedings of the First International Conference on Cable-Driven Parallel Robots, pp. 337–352, 2012. | ||
|
آمار تعداد مشاهده مقاله: 2,557 تعداد دریافت فایل اصل مقاله: 2,892 |
||