RT Journal Article
T1 Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup
A1 Dallej, Tej
A1 Gouttefarde, Marc
A1 Andreff, Nicolas
A1 Hervé, Pierre Elie
A1 Martinet, Philippe
AB This 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.
SN 0957-4158
YR 2019
FD 2019-08
LK https://hdl.handle.net/11556/3501
UL https://hdl.handle.net/11556/3501
LA eng
NO Dallej , 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
NO Publisher Copyright: © 2019 Elsevier Ltd
NO This work was supported by the ANR (grant 2009 SEGI 018, CoGiRo project).
DS TECNALIA Publications
RD 1 sept 2024