TY - JOUR
T1 - 3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control
AU - Kino, H.
AU - Yoshitake, T.
AU - Wada, R.
AU - Tahara, K.
AU - Tsuda, K.
N1 - Funding Information:
This study was performed in cooperation with Nippon Flex Controls Corp. The authors hereby express sincere thanks to them for their generous assistance and cooperation.
Publisher Copyright:
© 2018, © 2018 Taylor & Francis and The Robotics Society of Japan.
PY - 2018/7/18
Y1 - 2018/7/18
N2 - This paper has proposed a parallel-wire driven robot (PWDR) with an active balancer, which is notably useful for such applications as ceiling maintenance and object conveyance near a ceiling in a factory. Because this robot is an under-actuated system, the uncertainty of the inertial parameters of the load strongly affects the resultant motion and reduces the control accuracy because of the dynamics interference. However, to date, the dynamics of this robot has not been thoroughly elucidated. Thus, this study analyzes the dynamics of a PWDR that controls three degree-of-freedom using two wires and an active balancer. Moreover, based on the dynamic analysis, a model-based adaptive controller for the parameter uncertainty of a load is proposed, and its effectiveness is demonstrated through simulation.
AB - This paper has proposed a parallel-wire driven robot (PWDR) with an active balancer, which is notably useful for such applications as ceiling maintenance and object conveyance near a ceiling in a factory. Because this robot is an under-actuated system, the uncertainty of the inertial parameters of the load strongly affects the resultant motion and reduces the control accuracy because of the dynamics interference. However, to date, the dynamics of this robot has not been thoroughly elucidated. Thus, this study analyzes the dynamics of a PWDR that controls three degree-of-freedom using two wires and an active balancer. Moreover, based on the dynamic analysis, a model-based adaptive controller for the parameter uncertainty of a load is proposed, and its effectiveness is demonstrated through simulation.
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U2 - 10.1080/01691864.2018.1493397
DO - 10.1080/01691864.2018.1493397
M3 - Article
AN - SCOPUS:85049619802
SN - 0169-1864
VL - 32
SP - 766
EP - 777
JO - Advanced Robotics
JF - Advanced Robotics
IS - 14
ER -