Improving Disturbance Rejection and Dynamics of Cable Driven Parallel Robots with On-board Propellers

Imane Khayour; Loïc Cuvillon; Côme Butin; Arda Yiğit; Sylvain Durand; Jacques Gangloff

IROS 2020poster11 citations

Improving Disturbance Rejection and Dynamics of Cable Driven Parallel Robots with On-board Propellers

Imane Khayour, Loïc Cuvillon, Côme Butin, Arda Yiğit, Sylvain Durand, Jacques Gangloff

Abstract

This work studies redundant actuation for both trajectory tracking and disturbance rejection on flexible cable-driven parallel robots (CDPR). High dynamics/bandwidth unidirectional force generators, like air propellers, are used in combination with conventional but slower cable winding winches. To optimally balance the action of the two types of actuation within their saturation constraints, a model predictive controller is used. Experiments show the added value of on-board propulsion units with respect to winch-only control in order to improve the overall CDPR dynamic behavior.

BibTeX

@inproceedings{iros2020_improvingdisturb,
  title = {Improving Disturbance Rejection and Dynamics of Cable Driven Parallel Robots with On-board Propellers},
  author = {Imane Khayour and Loïc Cuvillon and Côme Butin and Arda Yiğit and Sylvain Durand and Jacques Gangloff},
  booktitle = {IROS 2020},
  year = {2020}
}