Modeling and control of a cable-suspended robot for inspection of vertical structures

摘要

In this paper, a cable-driven system is examined for the application of inspection of large, vertical-walled structures such as chemical storage tanks, large ship hulls, and high-rise buildings. Such cable-driven systems are not commonly used for these tasks due to vibration, which decreases inspection accuracy and degrades safety. The flexible nature of the cables make them difficult to control. In this paper, input shaping is implemented on a cable-driven system to reduce vibration. To design the input shapers, a model of the cable-driven system was developed. Analysis of the dominant dynamics and changes in them over the large workspace are also presented. The performance improvements provided by the input shaping controller are quantified through a series of simulations.