Tri-Space Operational Control of Redundant Multilink and Hybrid Cable-Driven Parallel Robots Using an Iterative-Learning-Based Reactive Approach

Cable-driven parallel robots (CDPRs) are a type of parallel mechanism in which cables are used as actuators. Due to the two levels of redundancy and numerous constraints within the CDPR actuation, joint and operational spaces (together known as the tri-space), tracking a given trajectory in the oper...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2023-11, Vol.31 (6), p.1-19
Main Authors: Bhattacharya, Dipankar, Chan, Yin Pok, Shang, Siqi, Chan, Yuen Shan, Tan, Ying, Lau, Darwin
Format: Article
Language:English
Subjects:
Actuation
Actuators
Aerospace electronics
Cable-driven robots
Cables
Interference
iterative-learning control
Kinematics
Learning
Null space
Parameterization
reactive control (RC)
Redundancy
Robots
Robust control
Task analysis
Tracking
tri-space control
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Summary:Cable-driven parallel robots (CDPRs) are a type of parallel mechanism in which cables are used as actuators. Due to the two levels of redundancy and numerous constraints within the CDPR actuation, joint and operational spaces (together known as the tri-space), tracking a given trajectory in the operational space while satisfying constraints in tri-space simultaneously is challenging. To the best of the authors' knowledge, there does not exist any tri-space control framework, which is robust, effective, and directly applicable to several architectures of redundantly actuated CDPRs. This article proposes a tri-space control framework that combines reactive control (RC) and iterative-learning control (ILC) to perform repetitive tasks in the operational space. The framework allows the tracking of operational space trajectories online with feasible cable forces while avoiding undesirable situations such as cable-link interference, joint interference, and loss of manipulability. On the other hand, by finding an optimal parameter in the null space using a novel parameterization of a null-space vector, the performance can be improved through ILC when the task is repeatedly executed. Simulation and hardware results on various multilink cable-driven robots (MCDRs) and hybrid cable-driven robots (HCDRs) show that the proposed tri-space control framework can be conveniently and effectively applied to the real-time control of different CDPRs.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2023.3263689