Publications

Authors:

Bettega, Jason; Richiedei, Dario; Tamellin, Iacopo; Trevisani, Alberto

Title:

Path Following of Cable Suspended Parallel Robots Through Nonlinear Model Predictive Control

Year:

2024

Type of item:

Contributo in atti di convegno

Tipologia ANVUR:

Contributo in Atti di convegno

Language:

Inglese

Name of journal:

MECHANISMS AND MACHINE SCIENCE

ISSN of journal:

2211-0984

Congresso:

9th European Conference on Mechanism Science, EuCoMeS 2024

Place:

Padua

Period:

18-20 September 2024

ISBN:

9783031672941

Page numbers:

117-124

Keyword:

Cable Suspended Parallel Robots, Cable-driven Parallel Robots, Nonlinear Model Predictive Control, Optimal control, Path following

Short description of contents:

Cable-driven parallel robots (CDPRs) are spreading very fast due to their large workspaces and their high payload-to-weight ratio, therefore representing an interesting solution for the next generation of industrial automation. Among the different topologies of CDPRs, the suspended configuration covers a huge interest because it simplifies the robot installation. At the same time, Cable Suspended Parallel Robots (CSPRs) represent a highly challenging configuration from the control design point of view because they lack positive controllability. This paper shows how Nonlinear Model Predictive Control (NMPC) algorithms represent an effective control method to perform path following tasks in the presence of CSPRs; in particular, a two-stage controller is proposed. Firstly, a NMPC algorithm is designed by considering only the dynamical subsystem made of the end-effector, achieving the optimal cable tensions for the execution of the desired path; this procedure easily includes constraints on the feasible tensions. Secondly, the related motor torques are achieved through inversion of the dynamic model of the electric motors. To assess the proposed controller, a 3-dof cable suspended spatial robot, moved by four cables, is considered. Numerical results are reported, showing low contour errors in the execution of the path following tasks and therefore confirming the effectiveness of the proposed method.

Product ID:

141417

Handle IRIS:

11562/1140327

Last Modified:

April 13, 2025

Bibliographic citation:

Bettega, Jason; Richiedei, Dario; Tamellin, Iacopo; Trevisani, Alberto, Path Following of Cable Suspended Parallel Robots Through Nonlinear Model Predictive Control in «MECHANISMS AND MACHINE SCIENCE»  in Mechanisms and Machine Science , Proceedings of "9th European Conference on Mechanism Science, EuCoMeS 2024" , Padua , 18-20 September 2024 , 2024 , pp. 117-124

Consulta la scheda completa presente nel repository istituzionale della Ricerca di Ateneo