• English
  • Deutsch
  • Log In
    Password Login
    Research Outputs
    Fundings & Projects
    Researchers
    Institutes
    Statistics
Repository logo
Fraunhofer-Gesellschaft
  1. Home
  2. Fraunhofer-Gesellschaft
  3. Konferenzschrift
  4. Pulley friction compensation for winch-integrated cable force measurement and verification on a cable-driven parallel robot
 
  • Details
  • Full
Options
2015
Conference Paper
Title

Pulley friction compensation for winch-integrated cable force measurement and verification on a cable-driven parallel robot

Abstract
In a cable-driven parallel robot, elastic cables are used to manipulate the end effector within the workspace. Cable force measurement is necessary for several control algorithms like cable force control, contact control, or load identification. The cable force sensor can be placed directly at the connection point on the platform or somewhere along the cable using pulleys. The pulleys between the force sensor and the platform disturb the force measurement accuracy due to friction. This paper deals with modeling and compensation of the friction. The friction behavior in the drive train with focus on the effects of the pulleys is non-trivial, as the cable movement consists of microscopic and macroscopic movements and standstills. Friction models from Coulomb and Dahl are adapted to deal with the pulley friction. The experimental evaluation showed an improvement of 70% with respect to the uncompensated case.
Author(s)
Kraus, Werner  
Kessler, Michael
Pott, Andreas
Mainwork
IEEE International Conference on Robotics and Automation, ICRA 2015  
Conference
International Conference on Robotics and Automation (ICRA) 2015  
Open Access
File(s)
Download (2.6 MB)
Rights
Use according to copyright law
DOI
10.24406/publica-r-388602
10.1109/ICRA.2015.7139406
Language
English
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Keyword(s)
  • cable-driven parallel robot

  • IPAnema

  • paralleler Seilroboter

  • Kraftmessung

  • Cookie settings
  • Imprint
  • Privacy policy
  • Api
  • Contact
© 2024