Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel-Robot

Masoud Ghanbari; Mohammad Reza Mousavi; S. Ali A. Moosavian; Ali Nasr; Payam Zarafshan

doi:10.1109/ICRoM.2017.8466229

Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel-Robot

Masoud Ghanbari, Mohammad Reza Mousavi, S. Ali A. Moosavian, Ali Nasr, Payam Zarafshan

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

3 Citations (Scopus)

Abstract

This paper addresses the challenge of redundancy resolution in parallel cable robots. Redundancy resolution leads in infinite solutions for tension distribution in cables and hence, force distribution has so far turned into an optimization problem in this class of robots. Therefore, the purpose of this work is to propose a method to optimize the force distribution in cables. In the proposed method, the null space of structure matrix is mapped into the joint space in such a way that all actuators remain in an optimal compromission of actuator forces. Investigation of tension distribution along the cables requires an effective modeling of cables. The proposed algorithm is evaluated within an experimental study on the RoboCab, a cable-driven parallel robot. Results demonstrate the ability of the algorithm to keep the tensions within the desired interval while maintaining the optimality. It is derived that this algorithm can be applied as a force estimator in similar applications.

Original language	English
Title of host publication	5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	33-38
Number of pages	6
ISBN (Print)	9781538657034
DOIs	https://doi.org/10.1109/ICRoM.2017.8466229
Publication status	Published - 2 Jul 2017
Externally published	Yes
Event	5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017 - Tehran, Iran, Islamic Republic of Duration: 25 Oct 2017 → 27 Oct 2017

Publication series

Name	5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017

Conference

Conference	5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	25/10/17 → 27/10/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

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10.1109/ICRoM.2017.8466229

Cite this

Ghanbari, M., Mousavi, M. R., Moosavian, S. A. A., Nasr, A., & Zarafshan, P. (2017). Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel-Robot. In 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017 (pp. 33-38). Article 8466229 (5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM.2017.8466229

Ghanbari, Masoud ; Mousavi, Mohammad Reza ; Moosavian, S. Ali A. et al. / Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel-Robot. 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 33-38 (5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017).

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abstract = "This paper addresses the challenge of redundancy resolution in parallel cable robots. Redundancy resolution leads in infinite solutions for tension distribution in cables and hence, force distribution has so far turned into an optimization problem in this class of robots. Therefore, the purpose of this work is to propose a method to optimize the force distribution in cables. In the proposed method, the null space of structure matrix is mapped into the joint space in such a way that all actuators remain in an optimal compromission of actuator forces. Investigation of tension distribution along the cables requires an effective modeling of cables. The proposed algorithm is evaluated within an experimental study on the RoboCab, a cable-driven parallel robot. Results demonstrate the ability of the algorithm to keep the tensions within the desired interval while maintaining the optimality. It is derived that this algorithm can be applied as a force estimator in similar applications.",

author = "Masoud Ghanbari and Mousavi, {Mohammad Reza} and Moosavian, {S. Ali A.} and Ali Nasr and Payam Zarafshan",

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doi = "10.1109/ICRoM.2017.8466229",

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Ghanbari, M, Mousavi, MR, Moosavian, SAA, Nasr, A & Zarafshan, P 2017, Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel-Robot. in 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017., 8466229, 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017, Institute of Electrical and Electronics Engineers Inc., pp. 33-38, 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017, Tehran, Iran, Islamic Republic of, 25/10/17. https://doi.org/10.1109/ICRoM.2017.8466229

Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel-Robot. / Ghanbari, Masoud; Mousavi, Mohammad Reza; Moosavian, S. Ali A. et al.
5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 33-38 8466229 (5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

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AU - Nasr, Ali

AU - Zarafshan, Payam

PY - 2017/7/2

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AB - This paper addresses the challenge of redundancy resolution in parallel cable robots. Redundancy resolution leads in infinite solutions for tension distribution in cables and hence, force distribution has so far turned into an optimization problem in this class of robots. Therefore, the purpose of this work is to propose a method to optimize the force distribution in cables. In the proposed method, the null space of structure matrix is mapped into the joint space in such a way that all actuators remain in an optimal compromission of actuator forces. Investigation of tension distribution along the cables requires an effective modeling of cables. The proposed algorithm is evaluated within an experimental study on the RoboCab, a cable-driven parallel robot. Results demonstrate the ability of the algorithm to keep the tensions within the desired interval while maintaining the optimality. It is derived that this algorithm can be applied as a force estimator in similar applications.

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Ghanbari M, Mousavi MR, Moosavian SAA, Nasr A, Zarafshan P. Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel-Robot. In 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 33-38. 8466229. (5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017). doi: 10.1109/ICRoM.2017.8466229

Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel-Robot

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