0
TECHNICAL PAPERS

A Dual-Stage Planar Cable Robot: Dynamic Modeling and Design of A Robust Controller with Positive Inputs

[+] Author and Article Information
So-Ryeok Oh, Kalyan Mankala

Department of Mechanical Engineering, University of Delaware

Sunil K. Agrawal

Department of Mechanical Engineering, University of Delawareagrawal@me.udel.edu

James S. Albus

 National Institute of Standards and Technology, Gaithersburg, MD 20899-8230james.albus@nist.gov

J. Mech. Des 127(4), 612-620 (Oct 04, 2004) (9 pages) doi:10.1115/1.1899689 History: Received May 21, 2004; Revised October 04, 2004

Cable robots have potential usage for loading and unloading of cargo in shipping industries. A novel six-degrees-of-freedom two-stage cable robot has been proposed by NIST for skin-to-skin transfer of cargo. In this paper, we look at a planar version of this two-stage cable robot. The disturbance motion from the sea is considered while modeling the dynamics of robot. The problem of robust control of the end-effector in the presence of unknown disturbances, along with maintaining positive tensions in the cables, is tackled using redundancy of cables in the system. Simulation results show the effectiveness of the control strategy.

FIGURES IN THIS ARTICLE
<>
Copyright © 2005 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

A concept of the proposed crane

Grahic Jump Location
Figure 2

A sketch of a planar dual-stage cable robot

Grahic Jump Location
Figure 3

A sketch of a planar dual-stage cable system showing the attachment points

Grahic Jump Location
Figure 4

State trajectories of the fully actuated system: desired signal (solid) and actual signal (dotted)

Grahic Jump Location
Figure 5

Input trajectories of the fully actuated system

Grahic Jump Location
Figure 6

Stage trajectories of the redundantly actuated system: desired signal (solid) and actual signal (dotted).

Grahic Jump Location
Figure 7

Input trajectories of the redundantly actuated system

Grahic Jump Location
Figure 8

Feasible area of the redundantly actuated system

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In