On the Control of Tendon Based Parallel Manipulators

Abstract:

Tendon based parallel manipulators are capable of realizing movement of high speed and acceleration. In order to perform tasks that require direct contact with the environment control schemes are needed that adapt both operational space variables and tendon forces. By use of an inverse dynamics approach a motion control scheme in operational space is presented. In redundant systems the forces that act along the tendons can be divided into internal forces, the sum of which is zero, and external forces, that produce the driving force for the endeffector. Based on that property an additional and decoupled force control scheme is presented.

• Periodical: Solid State Phenomena (Volumes 166-167)
• Pages: 395-402
• DOI: https://doi.org/10.4028/www.scientific.net/SSP.166-167.395
• Online since: September 2010
• Authors: Christian Sturm, Dieter Schramm
• Keywords: Cable Driven, Force Control, Manipulator, Parallel Kinematic, Position Control, Redundant, Tendon Based

References

[1] Bruckmann, T.; Mikelsons, L.; Brandt T.; Hiller, M.; Schramm, D. : Wire Robots Part I - Kinematics, Analysis & Design. In Laz, A., editor, Parallel Manipulators, ARS Robotic Books. I-Tech Education and Publishing, Vienna, Austria. ISBN 978-3-902613-20-2. (2008).

DOI: 10.5772/5365

[2] Bruckmann, T.; Mikelsons, L.; Brandt T.; Hiller, M.; Schramm, D. : Wire Robots Part II - Dynamics, Control & Application. In Laz, A., editor, Parallel Manipulators, ARS Robotic Books. I-Tech Education and Publishing, Vienna, Austria. ISBN 978-3-902613-20-2. (2008).

DOI: 10.5772/5366

[3] Bruckmann, T.; Mikelsons, L.; Hiller, M.; Schramm, D. : A New Force Calculation Algorithm for Tendon-Based Parallel Manipulators. In Advanced Intelligent Mechatronics, 2007IEEE/ASME international conference. 2007. pp.1-6. (2007).

DOI: 10.1109/aim.2007.4412432

[4] Bruckmann, T.; Pott, A.; Hiller, M. : Calculating force distributions for redundantly actuated tendon-based Stewart platforms. In Advances in Robot Kinematics, pages 403-412, Ljubljana, Slovenia, 2006. Springer-Verlag. (2006).

DOI: 10.1007/978-1-4020-4941-5_44

[5] Spong, W.; Hutchinson, S.; Vidyasagar, M. : {Robot Modeling and Control. John Wiley & Sons, Inc. ISBN 978-0-0471-64990-8. (2006).

[6] Fang, S. : Design, Modeling and Motion Contrl of Tendon-Based Parallel Manipulators. PH.D. dissertation, Gerhard-Mercator-University, Duisburg, Germany. Fortschritt-Berichte VDI, Reihe 8, Nr. 1076, Düsseldorf. (2005).

[7] Verhoeven, R.; Hiller, M. : Tension Distribution in Tendon-Based Stewart Platforms. Proceedings of the ARK '02, 8th. International Symposium on Advances in Robot Kinematics. (2002).

DOI: 10.1007/978-94-017-0657-5_13

[8] Verhoeven, R.; Hiller, M.; Tadokoro, S.: Workspace, stiffness, singularities and classification of tendon-driven Stewart platforms. In Jadran Lenarcic and Manfied L. Husty (editors), Advances in Robot Kinematics: Analysis And Control, pages 105- 1 14, Strobl/Salzburg, Austria, June 1998, Kluwer Academic Publishers. (1998).

DOI: 10.1007/978-94-015-9064-8_11