Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

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dc.contributor.authorDallej, Tej
dc.contributor.authorGouttefarde, Marc
dc.contributor.authorAndreff, Nicolas
dc.contributor.authorHervé, Pierre Elie
dc.contributor.authorMartinet, Philippe
dc.contributor.institutionROBOTICA_AUTOMA
dc.date.accessioned2024-07-24T12:04:54Z
dc.date.available2024-07-24T12:04:54Z
dc.date.issued2019-08
dc.descriptionPublisher Copyright: © 2019 Elsevier Ltd
dc.description.abstractThis paper deals with the modeling and vision-based control of large-dimension cable-driven parallel robots. Inverse kinematics and instantaneous inverse kinematics models are derived from the elastic catenary cable modeling. These models turn out to be dependent on the pose of the mobile platform (end-effector), on the cable tangent directions and on the cable tensions. In order to control the motion of the robot, a position-based visual servo control is used, where the mobile platform pose is measured by vision and used for regulation. A multi-camera setup and load cells provide the aforementioned desired measurements, i.e., the mobile platform pose, the directions of the tangents to the cables, and the cable tensions. The proposed approach was validated in experiments on the large-dimension cable-driven parallel robot prototype CoGiRo of global dimensions 15 m × 11 m × 6 m (L × l × h). A maximum error of less than 1 cm in position and 0.5∘ in orientation was achieved. Moreover, in the case of cable-driven parallel robots larger than the prototype CoGiRo, simulations were conducted in order to assess the influence on the vision-based control of four instantaneous inverse kinematics models.en
dc.description.sponsorshipThis work was supported by the ANR (grant 2009 SEGI 018, CoGiRo project).
dc.description.statusPeer reviewed
dc.format.extent17
dc.identifier.citationDallej , T , Gouttefarde , M , Andreff , N , Hervé , P E & Martinet , P 2019 , ' Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup ' , Mechatronics , vol. 61 , pp. 20-36 . https://doi.org/10.1016/j.mechatronics.2019.05.004
dc.identifier.doi10.1016/j.mechatronics.2019.05.004
dc.identifier.issn0957-4158
dc.identifier.urihttps://hdl.handle.net/11556/3501
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85066490988&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofMechatronics
dc.relation.projectIDAgence Nationale de la Recherche, ANR, 2009 SEGI 018
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsCable-driven parallel robots
dc.subject.keywordsKinematics
dc.subject.keywordsVisual servoing
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsMechanical Engineering
dc.subject.keywordsComputer Science Applications
dc.subject.keywordsElectrical and Electronic Engineering
dc.titleModeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setupen
dc.typejournal article
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