工作区
运动学
弹道
机器人
控制理论(社会学)
弹性(物理)
计算机科学
控制工程
并联机械手
运动规划
机器人运动学
工程类
模拟
移动机器人
控制(管理)
人工智能
物理
天文
经典力学
热力学
作者
Mahmoud Zarebidoki,Jaspreet Singh Dhupia,Wei Xu
出处
期刊:IEEE Robotics & Automation Magazine
[Institute of Electrical and Electronics Engineers]
日期:2022-03-30
卷期号:29 (3): 89-106
被引量:32
标识
DOI:10.1109/mra.2021.3138387
摘要
Cable-driven parallel robots (CDPRs) have applications in large workspaces and at high operating speeds, which necessitates considering the mass and elasticity of cables for accurate analyses of kinematics, dynamics, workspace, trajectory planning, and control. In this article, first, the typical CDPR configurations along with their application areas are summarized. Then, various approaches, such as optimizing cable and motor configurations or integrating additional elements to the structure of CDPRs that can be used for workspace geometry optimization, are discussed. Afterward, different models for the cables with mass and elasticity, such as Irvine’s sagging or spring dampers studied in the literature for integrating into the kinematics and dynamics equations, are reported. Later, along with reviewing different approaches for trajectory planning of planar and spatial CDPRs, advances in configuration optimization for collision-free trajectory planning are addressed. Finally, kinematic and dynamic control algorithms to handle the effect of mass and elasticity of the cables and robust and adaptive control algorithms to tackle structured and unstructured uncertainties, such as in the mass and moment of the moving platform (MP) and external disturbances, are reported.
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