TY - JOUR
T1 - Design and Optimal Control of an Underactuated Cable-Driven Micro-Macro Robot
AU - Barbazza, Luca
AU - Zanotto, Damiano
AU - Rosati, Giulio
AU - Agrawal, Sunil K.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/4
Y1 - 2017/4
N2 - 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.
AB - 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.
KW - Mechanism design of manipulators
KW - Underactuated robots
KW - optimization and optimal control
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U2 - 10.1109/LRA.2017.2651941
DO - 10.1109/LRA.2017.2651941
M3 - Article
AN - SCOPUS:85061345964
VL - 2
SP - 896
EP - 903
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
M1 - 7814208
ER -