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Optimal Control of a Wheeled Mobile Cable-Driven Parallel Robot ICaSbot with Viscoelastic Cables

Published online by Cambridge University Press:  14 November 2019

Moharam Habibnejad Korayem Open the ORCID record for Moharam Habibnejad Korayem [Opens in a new window] ,
Mahdi Yousefzadeh  and
Hami Tourajizadeh Open the ORCID record for Hami Tourajizadeh [Opens in a new window]
Moharam Habibnejad Korayem*
Affiliation:
Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
Mahdi Yousefzadeh
Affiliation:
Mechanical Engineering Department, Mazandaran University of Science and Technology, Babol, Iran. E-mail: ma.yousef@gmail.com
Hami Tourajizadeh
Affiliation:
Mechanical Engineering Department, Faculty of Engineering, Kharazmi University, Tehran, Iran. E-mail: Tourajizadeh@khu.ac.ir
*
*Corresponding author. E-mail: hkorayem@iust.ac.ir
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Summary

In this paper, a new mobile cable-driven parallel robot is proposed by mounting a spatial cable robot on a wheeled mobile robot. This system includes all the advantages of cable robots such as high ratio of payload to weight and good stiffness and accuracy while its deficiency of limited workspace is eliminated by the aid of its mobile chassis. The combined system covers a vast workspace area whereas it has negligible vibrations and cable sag due to using shorter cables. The dynamic equations are derived using Gibbs–Appell formulation considering viscoelasticity of the cables. Therefore, the more realistic viscoelastic cable model of the robot reveals the system flexibility effect and shows the requirements needed to control the end-effector in the conditions with cable elasticity. The viscoelastic system stability is investigated based on the input–output feedback linearization and using only the actuators feedback data. Feedback linearization controller is equipped by two additional controllers, that is, the optimal controller based on Linear Quadratic Regulator (LQR) method and finite horizon model predictive approach. They are used to control the system compromising between the control effort and error signals of the feedback linearized system. The applied control input to the robot plant is the voltage signal limited to a specified band. The validity of modeling and the designed controller efficiency are investigated using MATLAB simulation and its verification is accomplished by experimental tests conducted on the manufactured cable robot, ICaSbot.

Keywords

Cable-driven parallel robotWheeled mobile robotGibbs–AppellNon-holonomicFeedback linearizationLQR
Type
Articles
Information
Robotica , Volume 38 , Issue 8 , August 2020 , pp. 1513 - 1537
Copyright
© Cambridge University Press 2019

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