Contribution à la commande des robots parallèles à câbles à redondance d'actionnement

Abstract

Cable-driven parallel robots (CDPR) are particularly well adapted for some applications such as handling of heavy payloads over large workspaces. However, in order to fully control all the degrees of freedomof the mobile platformand to obtain large workspace to footprint ratios, redundant actuation may be required, which implies the determination of feasible cable tension distributions. In this thesis, in the case of CDPR with two degrees of actuation redundancy, real-time compatible algorithms capable of efficiently calculating various continuous tension distribution are introduced. Furthermore, efficient control schemes are proposed in order to increase the CDPR tracking performances. First, an dual-space feedforward control scheme is introduced to compensate for the plate-formeand whinches dynamics. In order to deal with parametric variations and incertainties in the models, an adaptive dual-space motion control scheme for CDPR is finally presented. Experimental results validate the reel-time efficiency of the proposed tension distribution algorithmand control schemes as well as their stability along the tracked trajectory.