Implementation of suspended cable robot calibration and control
Enabling many applications to be possible and affordable, the introduction and development of cable driven robots has opened many doors to the field of serial and parallel robots. Utilization of cables instead of rigid links leads to remarkable properties such as agility and speed, large workspace, and heavy payload capabilities. But, all this comes with the price of facing challenges induced by the very nature of the cable, the problem of elasticity, being limited to positive forces, vibrations, and difficulties of measuring the accurate length. However, by implementing wise topologies and controllers, these robots could be advantageous in many industries. As a step toward this goal and in order to be used easily and effectively, the concept of easy deployable cable driven robots is introduced in which the robot anchors are easily movable. The consequence of this ease is that by changing the configuration and position of the robot, all the pervious calibrations are distorted and a repeated calibration has to be executed. In this thesis, adequate methods for calibration of the robot is investigated and practical approaches toward this problem are introduced. In addition, an appropriate design for controlling the robot, considering its very nature of being easily deployable, is suggested. In the field of calibration, methods for jacobian, Kinematic and dynamic calibration are investigated and the corresponding implementations are done. For the controller, based on the working condition of the robot, PID and Adaptive controllers are utilized. Finally, implementing these methods, suitable performance was achieved.
|2018||M.Sc.||Parallel and Cable Robotics|