Solving the Forward Kinematic Problem of Under-Constrained Cable Driven Robots for Online Control Purposes

Document Type : Research Article

Authors

1 Human and Robot Interaction Laboratory, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran

2 University of Tehran, School of Electrical and Computer Engineering

3 School of Electrical and Computer Engineering, Human and Robot Interaction Laboratory, University of Tehran, Tehran, Iran

Abstract

In this paper, a method is proposed which allows computing the position of the endeffector based on neural networks approach by taking into account external forces applied to the endeffector. As in under-constrained robots kinematics and statics are intrinsically coupled together, and they simultaneously should be considered, the forward kinematic problem of the robot can be made equivalent to an optimization problem. Solving the optimization problem is time consuming and not suitable for practical purposes. Therefore, in order to solve the forward kinematic problem a SimMechanics model based on the robot geometry and dynamic is designed and presented. By means of this method, the forward kinematic problem is solved offline and is used for online purpose. Moreover, an analysis of workspace is performed which reveals that the solution of the forward kinematic problem of the underconstrained cable robots can be calculated uniquely. By resorting to a neural network method, a position control is performed and the proposed method is validated. The comparison of the operated and desired path is shown for a helical trajectory. Maximum error in the assumed workspace is 0.4 percent. Finally, the proposed method was implemented experimentally and the results confirm the efficiency of the foregoing method.

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Main Subjects

References

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Amirkabir Journal of Mechanical Engineering
Volume 52, Issue 1
April 2020
Pages 43-56

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