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System identification and cable force control for a cable-driven parallel robot with industrial servo drives

: Kraus, Werner; Schmidt, Valentin; Rajendra, Puneeth; Pott, Andreas


Xi, Ning (General Chair) ; IEEE Robotics and Automation Society; Institute of Electrical and Electronics Engineers -IEEE-:
IEEE ICRA 2014, International Conference on Robotics and Automation : Technologies Enabling New Economic Growth. May 31 - June 7, 2014, Hong Kong, China. Workshop & Tutorials. Proceedings
Piscataway, NJ: IEEE, 2014
ISBN: 978-1-4799-3684-7
International Conference on Robotics and Automation (ICRA) <2014, Hong Kong>
Fraunhofer IPA ()
paralleler Seilroboter; cable-driven parallel robot; IPAnema; force control; Kraftregelung; Roboter; Servoantrieb; actuator

In a cable-driven parallel robot, elastic cables are used to manipulate the end effector in the workspace. In this paper we present a dynamic analysis and system identification for the complete actuator unit of a cable robot including servo controller, winch, cable, cable force sensor and field bus communication. We establish a second-order system with dead time as an analagous model. Based on this investigation, we propose the design and stability analysis of a cable force controller. We present the implementation of feed-forward and integral controllers based on a stiffness model of the cables. As the platform position is not observable the challenge is to control the cable force while maintaining the positional accuracy. Experimental evaluation of the force controller shows, that the absolute positional accuracy is even improved.