Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency
- Resource Type
- Periodical
- Authors
- Ueland, E.; Sauder, T.; Skjetne, R.
- Source
- IEEE Transactions on Robotics IEEE Trans. Robot. Robotics, IEEE Transactions on. 37(2):659-666 Apr, 2021
- Subject
- Robotics and Control Systems
Computing and Processing
Components, Circuits, Devices and Systems
Force
Actuators
Real-time systems
Resource management
Cost function
Power cables
Trajectory
Cable-driven parallel robot (CDPR)
continuously differentiable solution
force allocation
Newton's method
real-time feasibility
slack formulation
- Language
- ISSN
- 1552-3098
1941-0468
In this article, we present a novel method for force allocation for overconstrained cable-driven parallel robot setups that guarantees continuously differentiable cable forces and allows for small penalized errors in the resulting wrench. For the latter, we also provide a bound on the error under some assumptions. We study real-time feasibility by performing numerical simulations on a large set of configurations.