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On the Cable Pseudo-Drag Problem of Cable-Driven Parallel Camera Robots at High Speeds

Published online by Cambridge University Press:  04 March 2019

Huiling Wei,
Yuanying Qiu and
Ying Sheng
Huiling Wei*
Affiliation:
College of Mechanical and Electrical Engineering, Foshan University, Foshan 528000, ChinaKey Laboratory of Ministry of Education for Electronic Equipment Structure Design, Xidian University, Xi’an 710071, China. E-mail: ysheng@xidian.edu.cn
Yuanying Qiu*
Affiliation:
Key Laboratory of Ministry of Education for Electronic Equipment Structure Design, Xidian University, Xi’an 710071, China. E-mail: ysheng@xidian.edu.cn
Ying Sheng
Affiliation:
Key Laboratory of Ministry of Education for Electronic Equipment Structure Design, Xidian University, Xi’an 710071, China. E-mail: ysheng@xidian.edu.cn
*
*Corresponding author. E-mails: weihuiling2007@126.com
*Corresponding author. E-mails: weihuiling2007@126.com
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Summary

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This paper presents a control strategy for solving the cable pseudo-drag problem of cable-driven parallel camera robots at high speeds. The control strategy belongs to a hybrid position/tension control method based on cable tension optimization. The cable catenary model and cable pseudo-drag problem are considered firstly. Then, the dynamic model of the cable-driven parallel camera robot is established. The cable tension optimization is proposed. And then a control strategy is put forward and its stability is proved. Simulation results of a four-cable camera robot are presented and discussed.

Keywords

Cable-driven parallel camera robotPseudo-dragCable tension optimizationHybrid position/tension controlStability analysis

Information

Type
Articles
Information
Robotica , Volume 37 , Issue 10 , October 2019, pp. 1695 - 1709
Copyright
© Cambridge University Press 2019 

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