Modeling and oscillations control of a planar parallel robot subsystem activated by cable

Marco A. Carpio; Juan C. Placencia; Jose M. Aller; Roque J. Saltaren; Alejandro Rodriguez; Gerardo A. Portilla; Juan S. Cely

doi:10.1109/CCAC.2019.8920840

Modeling and oscillations control of a planar parallel robot subsystem activated by cable

Marco A. Carpio
, Juan C. Placencia
, Jose M. Aller
, Roque J. Saltaren
, Alejandro Rodriguez
, Gerardo A. Portilla
, Juan S. Cely

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Cable Driven Parallel Robots (CDPR) are formed by putting together two separate structures, one fixed and the other mobile part which are held together by actuating wires. These robots present several physical phenomena including vibrations and elongation of the actuating wires, which can cause loss of precision or accuracy. This work is focused on improving the stability of the final effector position of a planar CDPR suspended by two cables, using a PID control that cancels the oscillatory variations of the position end effector. The control system is validated by inputting disturbances within the actuating cables.

Original language	English
Title of host publication	4th IEEE Colombian Conference on Automatic Control
Subtitle of host publication	Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings
Editors	Jose Garcia-Tirado, Diego Munoz-Durango, Hernan Alvarez, Hector Botero-Castro
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538669624
DOIs	https://doi.org/10.1109/CCAC.2019.8920840
State	Published - Oct 2019
Event	4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia Duration: 15 Oct 2019 → 18 Oct 2019

Publication series

Name	4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

Conference

Conference	4th IEEE Colombian Conference on Automatic Control, CCAC 2019
Country/Territory	Colombia
City	Medellin
Period	15/10/19 → 18/10/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

Motion control
Parallel robots
PID Control
Robot kinematics

CACES Knowledge Areas

417A Electronics, Automation and Sound

Access to Document

10.1109/CCAC.2019.8920840

Cite this

Carpio, M. A., Placencia, J. C., Aller, J. M., Saltaren, R. J., Rodriguez, A., Portilla, G. A., & Cely, J. S. (2019). Modeling and oscillations control of a planar parallel robot subsystem activated by cable. In J. Garcia-Tirado, D. Munoz-Durango, H. Alvarez, & H. Botero-Castro (Eds.), 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings Article 8920840 (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCAC.2019.8920840

Carpio, Marco A. ; Placencia, Juan C. ; Aller, Jose M. et al. / Modeling and oscillations control of a planar parallel robot subsystem activated by cable. 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings. editor / Jose Garcia-Tirado ; Diego Munoz-Durango ; Hernan Alvarez ; Hector Botero-Castro. Institute of Electrical and Electronics Engineers Inc., 2019. (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings).

@inproceedings{c8dceff3f3a346139d893e42a3c3ec90,

title = "Modeling and oscillations control of a planar parallel robot subsystem activated by cable",

abstract = "Cable Driven Parallel Robots (CDPR) are formed by putting together two separate structures, one fixed and the other mobile part which are held together by actuating wires. These robots present several physical phenomena including vibrations and elongation of the actuating wires, which can cause loss of precision or accuracy. This work is focused on improving the stability of the final effector position of a planar CDPR suspended by two cables, using a PID control that cancels the oscillatory variations of the position end effector. The control system is validated by inputting disturbances within the actuating cables.",

keywords = "Motion control, Parallel robots, PID Control, Robot kinematics",

author = "Carpio, \{Marco A.\} and Placencia, \{Juan C.\} and Aller, \{Jose M.\} and Saltaren, \{Roque J.\} and Alejandro Rodriguez and Portilla, \{Gerardo A.\} and Cely, \{Juan S.\}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 4th IEEE Colombian Conference on Automatic Control, CCAC 2019 ; Conference date: 15-10-2019 Through 18-10-2019",

year = "2019",

month = oct,

doi = "10.1109/CCAC.2019.8920840",

language = "English",

series = "4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

editor = "Jose Garcia-Tirado and Diego Munoz-Durango and Hernan Alvarez and Hector Botero-Castro",

booktitle = "4th IEEE Colombian Conference on Automatic Control",

address = "United States",

}

Carpio, MA, Placencia, JC, Aller, JM, Saltaren, RJ, Rodriguez, A, Portilla, GA & Cely, JS 2019, Modeling and oscillations control of a planar parallel robot subsystem activated by cable. in J Garcia-Tirado, D Munoz-Durango, H Alvarez & H Botero-Castro (eds), 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings., 8920840, 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings, Institute of Electrical and Electronics Engineers Inc., 4th IEEE Colombian Conference on Automatic Control, CCAC 2019, Medellin, Colombia, 15/10/19. https://doi.org/10.1109/CCAC.2019.8920840

Modeling and oscillations control of a planar parallel robot subsystem activated by cable. / Carpio, Marco A.; Placencia, Juan C.; Aller, Jose M. et al.
4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings. ed. / Jose Garcia-Tirado; Diego Munoz-Durango; Hernan Alvarez; Hector Botero-Castro. Institute of Electrical and Electronics Engineers Inc., 2019. 8920840 (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Modeling and oscillations control of a planar parallel robot subsystem activated by cable

AU - Carpio, Marco A.

AU - Placencia, Juan C.

AU - Aller, Jose M.

AU - Saltaren, Roque J.

AU - Rodriguez, Alejandro

AU - Portilla, Gerardo A.

AU - Cely, Juan S.

PY - 2019/10

Y1 - 2019/10

N2 - Cable Driven Parallel Robots (CDPR) are formed by putting together two separate structures, one fixed and the other mobile part which are held together by actuating wires. These robots present several physical phenomena including vibrations and elongation of the actuating wires, which can cause loss of precision or accuracy. This work is focused on improving the stability of the final effector position of a planar CDPR suspended by two cables, using a PID control that cancels the oscillatory variations of the position end effector. The control system is validated by inputting disturbances within the actuating cables.

AB - Cable Driven Parallel Robots (CDPR) are formed by putting together two separate structures, one fixed and the other mobile part which are held together by actuating wires. These robots present several physical phenomena including vibrations and elongation of the actuating wires, which can cause loss of precision or accuracy. This work is focused on improving the stability of the final effector position of a planar CDPR suspended by two cables, using a PID control that cancels the oscillatory variations of the position end effector. The control system is validated by inputting disturbances within the actuating cables.

KW - Motion control

KW - Parallel robots

KW - PID Control

KW - Robot kinematics

UR - https://www.scopus.com/pages/publications/85077960736

U2 - 10.1109/CCAC.2019.8920840

DO - 10.1109/CCAC.2019.8920840

M3 - Conference contribution

AN - SCOPUS:85077960736

T3 - 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

BT - 4th IEEE Colombian Conference on Automatic Control

A2 - Garcia-Tirado, Jose

A2 - Munoz-Durango, Diego

A2 - Alvarez, Hernan

A2 - Botero-Castro, Hector

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 4th IEEE Colombian Conference on Automatic Control, CCAC 2019

Y2 - 15 October 2019 through 18 October 2019

ER -

Carpio MA, Placencia JC, Aller JM, Saltaren RJ, Rodriguez A, Portilla GA et al. Modeling and oscillations control of a planar parallel robot subsystem activated by cable. In Garcia-Tirado J, Munoz-Durango D, Alvarez H, Botero-Castro H, editors, 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2019. 8920840. (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings). doi: 10.1109/CCAC.2019.8920840

Modeling and oscillations control of a planar parallel robot subsystem activated by cable

Abstract

Publication series

Conference

Bibliographical note

Keywords

CACES Knowledge Areas

Access to Document

Other files and links

Fingerprint

Modeling, Design, and Construction of a Planar Cable-Driven Parallel Robot

Cite this

Modeling and oscillations control of a planar parallel robot subsystem activated by cable

Abstract

Publication series

Conference

Bibliographical note

Keywords

CACES Knowledge Areas

Access to Document

Other files and links

Fingerprint

Projects

Modeling, Design, and Construction of a Planar Cable-Driven Parallel Robot

Cite this