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 sha** 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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Ep**er SD, Seering WP (1987) Understanding bandwidth limitations in robot force control. In: Proceedings of IEEE international conference on robotics and automation, pp 904–909
Hogan N (1985) Impedance control: an approach to manipulation, part i—theory. ASME J Dyn Syst 107:1–7
Bonitz RG, Hsia TC (1996) Internal force-based impedance control for cooperating manipulators. IEEE Trans Rob Autom 12(1):78–89
Reichert C, Müller K, Bruckmann T (2014) Internal force-based impedance control for cable-driven parallel robots. In: New trends in mechanism and machine science, mechanisms and machine science (submitted)
Ortega R, Loria A, Nicklasson PJ, Sira-Ramirez H (1998) Passivity-based control of Euler-Lagrange systems, 1st edn. Springer, New York
Abdellatif H, Heimann B, Kotlarski J (2008) Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 2392–2397
Müller A (2011) Problems in the control of redundantly actuated parallel manipulators caused by geometric imperfections. Meccanica 46(1):41–49
Müller K, Reichert C, Bruckmann T (2014) Analysis of geometrical force calculation algorithms for cable-driven parallel robots with a threefold redundancy. In: Latest advances in robot kinematics, (submitted)
De Luca A, Mattone R (2003) Actuator failure detection and isolation using generalized momenta. In: IEEE International Conference on robotics and automation, pp 634–639
Reichert C, Hufnagel T, Schramm D (2012) Regelung redundant angetriebener parallelmanipulatoren mit reibungsbehafteten motoren. In: 16. VDI Getriebetagung, pp 118–130
Bonitz RG, Hsia TC (1994) Force decomposition in cooperating manipulators using the theory of metric spaces and generalized inverses. In: IEEE international conference on robotics and automation, pp 1521–1527
von Zitzewitz J, Rauter G, Vallery H, Morger A, Riener R (2010) Forward kinematics of redundantly actuated, tendon-based robots. In: IEEE/RSJ international conference on intelligent robots and systems, pp 2289–2294
Khalil HK (2009) High-gain observers in nonlinear feedback control. In: IEEE international conference on control and automation, pp 1527–1528
Le Tien L, Albu-Schäffer A, De Luca A, Hirzinger G (2008) Friction observer and compensation for control of robots with joint torque measurement. In: IEEE/RSJ international conference on intelligent robots and systems, pp 3789–3795
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).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
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
Download citation
DOI: https://doi.org/10.1007/978-3-319-09489-2_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-09488-5
Online ISBN: 978-3-319-09489-2
eBook Packages: EngineeringEngineering (R0)