Analysis of cable tension of high speed parallel cable robot: High speed position tracking of winch

Jinwoo Jung; Jinlong Piao; Sukho Park; Jong Oh Park; Seong Young Ko

doi:10.1109/ICCAS.2016.7832439

Analysis of cable tension of high speed parallel cable robot: High speed position tracking of winch

Jinwoo Jung, Jinlong Piao, Sukho Park, Jong Oh Park, Seong Young Ko

Department of Robotics and Mechatronics Engineering

Chonnam National University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

Cable-driven parallel robots have a wide range of applications due to its unique characteristics of large workspace and high payload and dynamics. One of its promising industrial applications is high speed material handling allowed by high dynamics of the cable robots. The high speed material handling has been mostly performed by traditional parallel robots, such as delta robots whose workspace and speed are limited by the length and weight of the rigid links. Utilizing the characteristics of large workspace and high dynamics, a high speed cable robot is able to achieve high speeds over large workspace. However, high acceleration together with inertia for high speed manipulation can degenerate winch position tracking performance, which, in turn, causes tension distribution change. To achieve good performance at high speeds, it is desired to analyze and minimize the effects of the winch position tracking errors on tension distribution. In this paper, the effects of the position tracking error on tension have been analyzed. It is observed that approximately one half of tension error can be caused by the position tracking error during high speed manipulation.

Original language	English
Title of host publication	ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
Publisher	IEEE Computer Society
Pages	1053-1056
Number of pages	4
ISBN (Electronic)	9788993215120
DOIs	https://doi.org/10.1109/ICCAS.2016.7832439
State	Published - 24 Jan 2016
Event	16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of Duration: 16 Oct 2016 → 19 Oct 2016

Publication series

Name	International Conference on Control, Automation and Systems
Volume	0
ISSN (Print)	1598-7833

Conference

Conference	16th International Conference on Control, Automation and Systems, ICCAS 2016
Country/Territory	Korea, Republic of
City	Gyeongju
Period	16/10/16 → 19/10/16

Bibliographical note

Publisher Copyright:
© 2016 Institute of Control, Robotics and Systems - ICROS.

Keywords

Cable robot
high speed manipulation
position tracking error
tension distribution

Access to Document

10.1109/ICCAS.2016.7832439

Cite this

Jung, J., Piao, J., Park, S., Park, J. O., & Ko, S. Y. (2016). Analysis of cable tension of high speed parallel cable robot: High speed position tracking of winch. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings (pp. 1053-1056). Article 7832439 (International Conference on Control, Automation and Systems; Vol. 0). IEEE Computer Society. https://doi.org/10.1109/ICCAS.2016.7832439

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title = "Analysis of cable tension of high speed parallel cable robot: High speed position tracking of winch",

abstract = "Cable-driven parallel robots have a wide range of applications due to its unique characteristics of large workspace and high payload and dynamics. One of its promising industrial applications is high speed material handling allowed by high dynamics of the cable robots. The high speed material handling has been mostly performed by traditional parallel robots, such as delta robots whose workspace and speed are limited by the length and weight of the rigid links. Utilizing the characteristics of large workspace and high dynamics, a high speed cable robot is able to achieve high speeds over large workspace. However, high acceleration together with inertia for high speed manipulation can degenerate winch position tracking performance, which, in turn, causes tension distribution change. To achieve good performance at high speeds, it is desired to analyze and minimize the effects of the winch position tracking errors on tension distribution. In this paper, the effects of the position tracking error on tension have been analyzed. It is observed that approximately one half of tension error can be caused by the position tracking error during high speed manipulation.",

keywords = "Cable robot, high speed manipulation, position tracking error, tension distribution",

author = "Jinwoo Jung and Jinlong Piao and Sukho Park and Park, {Jong Oh} and Ko, {Seong Young}",

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doi = "10.1109/ICCAS.2016.7832439",

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Jung, J, Piao, J, Park, S, Park, JO & Ko, SY 2016, Analysis of cable tension of high speed parallel cable robot: High speed position tracking of winch. in ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings., 7832439, International Conference on Control, Automation and Systems, vol. 0, IEEE Computer Society, pp. 1053-1056, 16th International Conference on Control, Automation and Systems, ICCAS 2016, Gyeongju, Korea, Republic of, 16/10/16. https://doi.org/10.1109/ICCAS.2016.7832439

Analysis of cable tension of high speed parallel cable robot: High speed position tracking of winch. / Jung, Jinwoo; Piao, Jinlong; Park, Sukho et al.
ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society, 2016. p. 1053-1056 7832439 (International Conference on Control, Automation and Systems; Vol. 0).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Jung, Jinwoo

AU - Piao, Jinlong

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AU - Ko, Seong Young

PY - 2016/1/24

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N2 - Cable-driven parallel robots have a wide range of applications due to its unique characteristics of large workspace and high payload and dynamics. One of its promising industrial applications is high speed material handling allowed by high dynamics of the cable robots. The high speed material handling has been mostly performed by traditional parallel robots, such as delta robots whose workspace and speed are limited by the length and weight of the rigid links. Utilizing the characteristics of large workspace and high dynamics, a high speed cable robot is able to achieve high speeds over large workspace. However, high acceleration together with inertia for high speed manipulation can degenerate winch position tracking performance, which, in turn, causes tension distribution change. To achieve good performance at high speeds, it is desired to analyze and minimize the effects of the winch position tracking errors on tension distribution. In this paper, the effects of the position tracking error on tension have been analyzed. It is observed that approximately one half of tension error can be caused by the position tracking error during high speed manipulation.

AB - Cable-driven parallel robots have a wide range of applications due to its unique characteristics of large workspace and high payload and dynamics. One of its promising industrial applications is high speed material handling allowed by high dynamics of the cable robots. The high speed material handling has been mostly performed by traditional parallel robots, such as delta robots whose workspace and speed are limited by the length and weight of the rigid links. Utilizing the characteristics of large workspace and high dynamics, a high speed cable robot is able to achieve high speeds over large workspace. However, high acceleration together with inertia for high speed manipulation can degenerate winch position tracking performance, which, in turn, causes tension distribution change. To achieve good performance at high speeds, it is desired to analyze and minimize the effects of the winch position tracking errors on tension distribution. In this paper, the effects of the position tracking error on tension have been analyzed. It is observed that approximately one half of tension error can be caused by the position tracking error during high speed manipulation.

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Jung J, Piao J, Park S, Park JO, Ko SY. Analysis of cable tension of high speed parallel cable robot: High speed position tracking of winch. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society. 2016. p. 1053-1056. 7832439. (International Conference on Control, Automation and Systems). doi: 10.1109/ICCAS.2016.7832439

Analysis of cable tension of high speed parallel cable robot: High speed position tracking of winch

Abstract

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Keywords

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