Team AVR - Control, Vision and Robotics Lab

Active Damping for Cable-Driven Parallel Robots

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A part of our team is interested by the parallel cable-driven robot concept and its potential applications. This kind of robot has a lot of wonderful assets : huge workspace and scalability, very high dynamics, low cost and low power, compared to rigid (parallel or serial) robots. But these amazing performances come with a huge complexity in the robot mechanical model, and with really disturbing vibrations. In this project, we try to adress the modeling and vibration issue of parallel cable-driven robots with very light cables. We use reaction wheels and adaptative control to greatly reduce the vibrations amplitude and duration.


Introduction

In this project, we try to adress the modeling and vibration issue of parallel cable-driven robots with very light cables. We use reaction wheels and adaptative control to greatly reduce the vibrations amplitude and duration.


Stabilization Experiment with 2 cable pairs and 2 reaction wheel

Cable-Driven Robot set up
View of all the actuators

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Stabilization Experiment with 8 cable pairs in modal space

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Material

Contact

Publications

  1. Xavier Weber, Loic Cuvillon and Jacques Gangloff, Active vibration canceling of a cable-driven parallel robot using reaction wheels, in proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, Illinois, Sept. 14–18, 2014.

Funding

  • PhD grant from French ministry of research (X. Weber, 20012-2015)