Design and Optimal Control of an Underactuated Cable-Driven Micro-Macro Robot

Luca Barbazza, Damiano Zanotto, Giulio Rosati, Sunil K. Agrawal

Research output: Contribution to journalArticlepeer-review

31 Scopus citations

Abstract

In this paper, a planar underactuated cable-driven micro-macro robot is presented. The system consists of two-link passive serial manipulator attached to a cable-suspended parallel robot. The system is conceived for applications requiring point-to-point motions inside large workspaces in the presence of obstacles: The serial arm allows us to reach points close to the obstacles that would not be reachable by the cable robot alone due to cable-obstacle interference. The kinematic and dynamic models are presented and the differential flatness framework is applied to make the system controllable for point-to-point movements. In addition, a multiobjective optimization framework is presented, which allows us to choose the design parameters that minimize two conflicting objective functions (movement time and control effort) for a given movement task. This novel approach allows designers to infer useful information about the influence of the design parameters on the dynamic performance of the system.

Original languageEnglish
Article number7814208
Pages (from-to)896-903
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume2
Issue number2
DOIs
StatePublished - Apr 2017

Keywords

  • Mechanism design of manipulators
  • Underactuated robots
  • optimization and optimal control

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