Modeling and Control of a Cable-Driven Parallel Robot Allowing Cable-edge Collisions

摘要

Cable-Driven Parallel Robots (CDPRs) have been proposed for a variety of applications such as material handling and rehabilitation. However, the collision-free constraint of CDPRs limits the workspace of CDPRs and the position of anchor points. This paper relaxes the collision-free constraint of CDPRs and addresses the modeling and control of a CDPR allowing cable-edge collisions. An inverse kinematics model is established for a CDPR allowing cable-edge collisions. Based on the inverse kinematics model, a sliding mode-based control strategy is proposed for the pose control of a CDPR allowing cable-edge collision. To evaluate the effectiveness of the inverse kinematics model and the sliding mode-based control strategy, simulations of the pose control of a CDPR allowing cable-edge collisions with two controllable degrees of freedom are conducted.