Adaptive Preload Control of Cable-Driven Parallel Robots for Handling Task

TL;DR

This paper introduces a real-time adaptive preload control method for cable-driven parallel robots that adjusts cable tension based on task needs, enhancing platform stiffness and manipulation capabilities.

Contribution

It proposes an extended nullspace formulation for dynamic preload adjustment, enabling real-time optimization and improved control of cable-driven robots.

Findings

Demonstrates feasibility of adaptive preload adjustment during motion

Shows improved manipulation capabilities over conventional methods

Validates approach through simulation and experimental results

Abstract

This paper presents a method for dynamic adjustment of cable preloads based on the actuation redundancy of \acp{CDPR}, which allows increasing or decreasing the platform stiffness depending on task requirements. This is achieved by computing preload parameters with an extended nullspace formulation of the kinematics. The method facilitates the operator's ability to specify a defined preload within the operation space. The algorithms are implemented in a real-time environment, allowing for the use of optimization in hybrid position-force control. To validate the effectiveness of this approach, a simulation study is performed, and the obtained results are compared to existing methods. Furthermore, the method is investigated experimentally and compared with the conventional position-controlled operation of a cable robot. The results demonstrate the feasibility of adaptively adjusting cable preloads during platform motion and manipulation of additional objects.