Energy-Efficient Control of Cable Robots Exploiting Natural Dynamics and Task Knowledge
نویسندگان
چکیده
This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where accuracy can be obtained through contacts. includes majority pick-and-place operations. Knowledge about task is directly taken into account when specifying execution. The natural dynamics system exploited there tolerance position trajectory. Brakes are actively used to replace standstill torques, as passive actuation. executed with hybrid discrete-continuous controller. A discrete controller specify coordinate between subtasks, based requirements these specific specific, robust, continuous controllers constructed. approach allows less stiff thus saver, cheaper hardware used. For planar operation, it was found this results energy savings more than $$30\%$$ . However, payload moves dynamics, followed trajectory its timing compared traditional trajectory-based Also, presented implies fundamentally different way execute tasks.
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ژورنال
عنوان ژورنال: Mechanisms and machine science
سال: 2023
ISSN: ['2211-0992', '2211-0984']
DOI: https://doi.org/10.1007/978-3-031-32322-5_15