Real-time Trajectory Tracking of a Cable-driven Parallel Robot Using Servo-constraints
Proceedings in applied mathematics and mechanics 17 (1): 161-162 (2017)
Contribution to Conference
Cable robots are widely applicable for various industrial tasks, where accurate trajectory tracking of the end-effector is an essential control objective. This is especially challenging for underactuated cable robots since they possess less actuators than degrees of freedom. Trajectory tracking can be achieved by using an inverse model based on servo-constraints. It is possible to solve the DAE problem in real-time, which makes an implementation on experimental setups straightforward. Stabilization of the tracking error can be achieved by a feedback controller which augments the feedforward loop in a two degree of freedom control structure. Effectiveness of the described method is shown in experiments on a cable robot test bench.