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Modeling and Robust Control of Cable-Driven Parallel Robots for Industrial Applications

Abstract : This thesis covers the modeling and robust control of cable-driven parallel robots (CDPRs) for two industrial applications for the naval sector: pick and place of metal plates (ROMP) using a suspended CDPR, and window cleaning (ROWC) by a fully constrained CDPR. The work was carried out in the context of the ROCKET project at IRT Jules Verne. The first part of this thesis focuses on the modeling and calibration of CDPRs. Models are written, including the consideration of pulleys geometry and cable elasticity. A linear model of cable elasticity introduced and used to write the robot stiffness matrix. A method for estimating the platform mass and center of mass position is proposed and experimented based on cable tension measurements, assuming a low-dynamic trajectory. Finally, the calibration of CDPRs is discussed and an automatic calibration method is tested in simulation based on the different models. The second part is dedicated to the robust control of RPCs against the perturbations identified for both applications. Several control architectures have been experimented depending on the available information about the system. Two families of controllers are compared for the control of ROMP: a proportional-derivative (PD) controller and a recent controller automatically balancing between sliding mode or linear algorithms (SML). In the case of fully constrained CDPRs such as ROWC, the control architecture must include a tension distribution to ensure safety. A new tension selection criterion based on the stiffness matrix is proposed to reduce the displacement of the platform due to water jet pressure. Finally, CDPR emergency stops are discussed and the behavior of ROMP and ROWC prototypes was evaluated in emergency situations.
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Submitted on : Wednesday, September 30, 2020 - 4:44:10 PM
Last modification on : Wednesday, October 14, 2020 - 4:08:33 AM


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  • HAL Id : tel-02954030, version 1


Etienne Picard. Modeling and Robust Control of Cable-Driven Parallel Robots for Industrial Applications. Automatic. École centrale de Nantes, 2019. English. ⟨NNT : 2019ECDN0067⟩. ⟨tel-02954030⟩



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