Abstract
In this paper a robust internal force-based impedance controller for redundantly actuated cable-driven parallel robots (CDPRs) is proposed. The controller is governed by a computed-torque-control structure with a shaping of the internal forces resulting from the chosen mass matrix. These gains are intended to equip each manipulator with the feature of an impedance to enforce a dynamical relationship between the end-effector (EE) velocity and the internal forces. Non-linear effects like model uncertainties take a negative influence on the controller. A disturbance observer based on the generalized momentum approach is incooperted into the control scheme to impart the impedance controller the necessary robustness. To validate the described robust impedance control scheme, experiments with a 6-DOF CDPR with industrial BLDC-Motors are presented.
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Acknowledgments
The research leading to these results has received funding from the European Community’s Seventh Framework Programme under grant agreement No. NMP2-SL-2011-285404 (CableBOT).
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Reichert, C., Müller, K., Bruckmann, T. (2015). Robust Internal Force-Based Impedance Control for Cable-Driven Parallel Robots. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-319-09489-2_10
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DOI: https://doi.org/10.1007/978-3-319-09489-2_10
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