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Motion control of a tendon-based parallel manipulator using optimal tension distribution

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Shiqing Fang; D. Franitza; M. Torlo; F. Bekes; M. Hiller
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Abstract:

This paper presents the motion control of a six degree-of-freedom tendon-based parallel manipulator, which moves a platform with high speed using seven cables. To control...Show More

Metadata

Abstract:

This paper presents the motion control of a six degree-of-freedom tendon-based parallel manipulator, which moves a platform with high speed using seven cables. To control the motion of the platform along desired trajectories in space, nonlinear feedforward control laws in the cable length coordinates are used. Taking account of the effect of redundancy on actuation, the optimal tension distribution should be considered to the advantage of the control laws. Using a method based on the analysis of the workspace condition, tension constraints and limiting torque constraints of actuators, an analytical solution for optimum tension distribution was found and used to compute the force in each cable for compensation of dynamic errors. It is experimentally demonstrated that the proposed control laws reduce the energy consumption of the actuators and satisfy the path tracking accuracy.
Published in: IEEE/ASME Transactions on Mechatronics ( Volume: 9, Issue: 3, September 2004)
Page(s): 561 - 568
Date of Publication: 30 September 2004

ISSN Information:

DOI: 10.1109/TMECH.2004.835336
Author image of Shiqing Fang
Institute for Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany
Shiqing Fang received the B.E. degree in mechanical engineering and the M.E. degree from the Beijing Institute of Technology, Beijing, China, in 1991 and 1994, respectively. He is currently working toward the Ph.D. degree at the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany, where his thesis is on the design, modeling, and motion control of tendon-based parallel manipulator...Show More
Shiqing Fang received the B.E. degree in mechanical engineering and the M.E. degree from the Beijing Institute of Technology, Beijing, China, in 1991 and 1994, respectively. He is currently working toward the Ph.D. degree at the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany, where his thesis is on the design, modeling, and motion control of tendon-based parallel manipulator...View more
Author image of D. Franitza
Institute for Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany
Daniel Franitza received the Diploma in applied mechanics and the Ph.D. degree in mechanical engineering from the University of Dresden, Dresden, Germany.
Since 2000, he has been an Assistant Lecturer with the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany. His research interests include kinematics and dynamics of multibody and mechatronic systems as well as compliant mechani...Show More
Daniel Franitza received the Diploma in applied mechanics and the Ph.D. degree in mechanical engineering from the University of Dresden, Dresden, Germany.
Since 2000, he has been an Assistant Lecturer with the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany. His research interests include kinematics and dynamics of multibody and mechatronic systems as well as compliant mechani...View more
Author image of M. Torlo
Institute for Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany
BMW group, Munchen, Germany
Marc Torlo received the Diploma degree in electronic engineering with an emphasis on information technology from the University of Duisburg-Essen, Duisburg, Germany, in 1998, and is currently working toward the Ph.D. degree in dynamically distributed fault tolerance in networked vehicle system for x-by-wire-applications at the same university.
From 1998 to 2003, he worked as a Research Assistant at the Institute of Mechatr...Show More
Marc Torlo received the Diploma degree in electronic engineering with an emphasis on information technology from the University of Duisburg-Essen, Duisburg, Germany, in 1998, and is currently working toward the Ph.D. degree in dynamically distributed fault tolerance in networked vehicle system for x-by-wire-applications at the same university.
From 1998 to 2003, he worked as a Research Assistant at the Institute of Mechatr...View more
Author image of F. Bekes
Institute for Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany
Frank Bekes received the Diploma in electrical engineering from the Gerhard-Mercator-University of Duisburg, Germany, in 1999, where he was involved in the enhancement of fiber optical dosimeter system at the Institute of mechatronics (IMECH GmbH, Moers, Germany) for the Dipl.-Ing. degree.
Since 2000, he has been with the Institute of Mechatronics and System Dynamics at the University of Duisburg-Essen, Duisburg. His curre...Show More
Frank Bekes received the Diploma in electrical engineering from the Gerhard-Mercator-University of Duisburg, Germany, in 1999, where he was involved in the enhancement of fiber optical dosimeter system at the Institute of mechatronics (IMECH GmbH, Moers, Germany) for the Dipl.-Ing. degree.
Since 2000, he has been with the Institute of Mechatronics and System Dynamics at the University of Duisburg-Essen, Duisburg. His curre...View more
Author image of M. Hiller
Institute for Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany
Manfred Hiller received the Diploma in aeronautical engineering and Ph.D. and Habilitation degrees in mechanical engineering from the University of Stuttgart, Stuttgart, Germany.
Since 1986, he has been a permanent Guest Professor at the ETH Zurich, Switzerland. In 1991, he held the Chair Francqui Internationale of the University of Liege, Belgium. Since 1991, he has been a Professor and Director at the Institute of Mechat...Show More
Manfred Hiller received the Diploma in aeronautical engineering and Ph.D. and Habilitation degrees in mechanical engineering from the University of Stuttgart, Stuttgart, Germany.
Since 1986, he has been a permanent Guest Professor at the ETH Zurich, Switzerland. In 1991, he held the Chair Francqui Internationale of the University of Liege, Belgium. Since 1991, he has been a Professor and Director at the Institute of Mechat...View more
Contents

I. Introduction

Tendon-Based parallel manipulators using cables (tendons) instead of rigid links are able to generate higher accelerations and higher speeds than parallel manipulators with rigid links, for the mass of the moving parts is extremely low in comparison to a manipulator with rigid links. Further merits of this manipulator are that it is relatively light and has a good flexibility and maneuverability. It can be used for applications such as shipbuilding, positioning telescopes, and camera systems for stadiums where robot arms with heavy rigid links are not appropriate and accuracy is not so important. Another field of application is manipulators for high-speed assembly of lightweight objects such as semiconductors [8].

Author image of Shiqing Fang
Institute for Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany
Shiqing Fang received the B.E. degree in mechanical engineering and the M.E. degree from the Beijing Institute of Technology, Beijing, China, in 1991 and 1994, respectively. He is currently working toward the Ph.D. degree at the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany, where his thesis is on the design, modeling, and motion control of tendon-based parallel manipulators
From 1994 to 1996, he was an Assistant Lecturer at the Vehicular Engineering College, Beijing Institute of Technology, Beijing, China. From 1996 to 1998, he was an Associate Director with the Automobile Technology Institute, Beijing Institute of Technology Industry Group Corporation. Since 1999, he has been a Research Assistant with the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany. His research interests are kinematics and dynamics of multibody and mechatronic systems.
Shiqing Fang received the B.E. degree in mechanical engineering and the M.E. degree from the Beijing Institute of Technology, Beijing, China, in 1991 and 1994, respectively. He is currently working toward the Ph.D. degree at the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany, where his thesis is on the design, modeling, and motion control of tendon-based parallel manipulators
From 1994 to 1996, he was an Assistant Lecturer at the Vehicular Engineering College, Beijing Institute of Technology, Beijing, China. From 1996 to 1998, he was an Associate Director with the Automobile Technology Institute, Beijing Institute of Technology Industry Group Corporation. Since 1999, he has been a Research Assistant with the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany. His research interests are kinematics and dynamics of multibody and mechatronic systems.View more
Author image of D. Franitza
Institute for Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany
Daniel Franitza received the Diploma in applied mechanics and the Ph.D. degree in mechanical engineering from the University of Dresden, Dresden, Germany.
Since 2000, he has been an Assistant Lecturer with the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany. His research interests include kinematics and dynamics of multibody and mechatronic systems as well as compliant mechanisms, tendon-based and heavy weight manipulators, robotics, and continuum mechanics.
Daniel Franitza received the Diploma in applied mechanics and the Ph.D. degree in mechanical engineering from the University of Dresden, Dresden, Germany.
Since 2000, he has been an Assistant Lecturer with the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany. His research interests include kinematics and dynamics of multibody and mechatronic systems as well as compliant mechanisms, tendon-based and heavy weight manipulators, robotics, and continuum mechanics.View more
Author image of M. Torlo
Institute for Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany
BMW group, Munchen, Germany
Marc Torlo received the Diploma degree in electronic engineering with an emphasis on information technology from the University of Duisburg-Essen, Duisburg, Germany, in 1998, and is currently working toward the Ph.D. degree in dynamically distributed fault tolerance in networked vehicle system for x-by-wire-applications at the same university.
From 1998 to 2003, he worked as a Research Assistant at the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen. In Fall 2003, he joined the BMW Group, München, Germany, where he is involved in the development of future vehicle programming.
Marc Torlo received the Diploma degree in electronic engineering with an emphasis on information technology from the University of Duisburg-Essen, Duisburg, Germany, in 1998, and is currently working toward the Ph.D. degree in dynamically distributed fault tolerance in networked vehicle system for x-by-wire-applications at the same university.
From 1998 to 2003, he worked as a Research Assistant at the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen. In Fall 2003, he joined the BMW Group, München, Germany, where he is involved in the development of future vehicle programming.View more
Author image of F. Bekes
Institute for Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany
Frank Bekes received the Diploma in electrical engineering from the Gerhard-Mercator-University of Duisburg, Germany, in 1999, where he was involved in the enhancement of fiber optical dosimeter system at the Institute of mechatronics (IMECH GmbH, Moers, Germany) for the Dipl.-Ing. degree.
Since 2000, he has been with the Institute of Mechatronics and System Dynamics at the University of Duisburg-Essen, Duisburg. His current research interests include the control and feedback control systems.
Frank Bekes received the Diploma in electrical engineering from the Gerhard-Mercator-University of Duisburg, Germany, in 1999, where he was involved in the enhancement of fiber optical dosimeter system at the Institute of mechatronics (IMECH GmbH, Moers, Germany) for the Dipl.-Ing. degree.
Since 2000, he has been with the Institute of Mechatronics and System Dynamics at the University of Duisburg-Essen, Duisburg. His current research interests include the control and feedback control systems.View more
Author image of M. Hiller
Institute for Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany
Manfred Hiller received the Diploma in aeronautical engineering and Ph.D. and Habilitation degrees in mechanical engineering from the University of Stuttgart, Stuttgart, Germany.
Since 1986, he has been a permanent Guest Professor at the ETH Zurich, Switzerland. In 1991, he held the Chair Francqui Internationale of the University of Liege, Belgium. Since 1991, he has been a Professor and Director at the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany. His research fields are kinematics and dynamics of complex multi-body and mechatronic systems, vehicle dynamics, robotics, and walking machines. His current interests are in design of man-machine interfaces for teleoperated devices, motion trajectory generation and mechatronic design in automotive systems.
Dr. Hiller received the award of a Dr. Honoris Causa of the TU Clui-Napoca in Romania in 2003.
Manfred Hiller received the Diploma in aeronautical engineering and Ph.D. and Habilitation degrees in mechanical engineering from the University of Stuttgart, Stuttgart, Germany.
Since 1986, he has been a permanent Guest Professor at the ETH Zurich, Switzerland. In 1991, he held the Chair Francqui Internationale of the University of Liege, Belgium. Since 1991, he has been a Professor and Director at the Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany. His research fields are kinematics and dynamics of complex multi-body and mechatronic systems, vehicle dynamics, robotics, and walking machines. His current interests are in design of man-machine interfaces for teleoperated devices, motion trajectory generation and mechatronic design in automotive systems.
Dr. Hiller received the award of a Dr. Honoris Causa of the TU Clui-Napoca in Romania in 2003.View more
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