Experimental Investigation of a Cable Robot Recovery Strategy

摘要

Developing an emergency procedure for cable-driven parallel robots is not a trivial process, since it is not possible to halt the end-effector by quickly braking the actuators as in rigid-link manipulators. For this reason, the cable robot recovery strategy is an important topic of research, and the literature provides several approaches. However, the computational efficiency of the recovery algorithm is fundamental for real-time applications. Thus, this paper presents a recovery strategy adopted in an experimental setup consisting of a three degrees-of-freedom (3-DOF) suspended cable robot controlled by an industrial PC. The presentation of the used control system lists the industrial-grade components installed, further highlighting the industrial implication of the work. Lastly, the experimental validation of the recovery strategy proves the effectiveness of the work.