Active vibration control of a cable-driven parallel robot using active rods

Abstract

This study deals with the integration of two active rods on a cable-driven parallel robot (CDPR) to control its vibrations. Three control laws derived from Integral Force Feedback (IFF) are proposed and compared analytically using a dynamic CDPR model: αβ -IFF, IFF with filters and IFF with positive proportional feedback (PIFF). A prototype was set up to test the performance of the active rods. A parametric study was then carried out on this prototype to choose the best control law and optimise its parameters. The use of only two active rods over eight driven cables allowed reducing the vibration levels over the six modes of the robot.