A novel method for recording the position and orientation of the end effector of a spatial cable-suspended robot and using for closed-loop control

In this paper, a new method of recording the position and orientation of the end effector as a feedback of a spatial cable-suspended robot is presented based on coupling the data of image processing and laser sensors. All of the degrees of freedoms (DOFs) of the end effector can be easily fed back t...

Full description

Saved in:
Bibliographic Details
Published in:International journal of advanced manufacturing technology 2014-05, Vol.72 (5-8), p.739-755
Main Authors: Korayem, M. H., Tourajizadeh, H., Taherifar, M., Khayatzadeh, S., Maddah, M., Imanian, A., Tajik, A.
Format: Article
Language:English
Subjects:
Accelerometers
Algorithms
Assembly lines
Cables
CAE) and Design
Coders
Computer simulation
Computer-Aided Engineering (CAD
End effectors
Engineering
Feedback linearization
Image processing
Industrial and Production Engineering
Mechanical Engineering
Media Management
Orientation
Original Article
Recording
Robot control
Robots
Space shuttle
Ultrasonic testing
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this paper, a new method of recording the position and orientation of the end effector as a feedback of a spatial cable-suspended robot is presented based on coupling the data of image processing and laser sensors. All of the degrees of freedoms (DOFs) of the end effector can be easily fed back through the proposed protocol in an online way and with the highest accuracy. This method has advantages over encoder feedback method since encoder feedback method does not consider the effect of structural uncertainties like vibrations of the cables. Also, the proposed method is preferable to ultrasonic sensor feedback method or accelerometers, because it does not suffer from the effect of reflecting the sound from obstacles and indoor small room syndrome or the accelerometer noise problems. It is possible to use this setup in almost every environmental situation and for any configuration of the end effector. The position and orientation of the end effector recorded in an online way are used to prepare a feedback signal and control the robot in a closed-loop way using feedback linearization approach. A simulation study is carried out on the ICaSbot which is a spatial cable-suspended robot. Finally, experimental tests are conducted on the ICaSbot to validate the proposed algorithm and simulation results performed in the MATLAB environment.
ISSN:0268-3768
1433-3015
DOI:10.1007/s00170-014-5681-2