Trajectory Tracking Control of Cable-driven Parallel Robots by Using High-speed Vision

doi:10.3901/JME.2019.05.019

Abstract

Abstract: To achieve high-precision trajectory tracking of cable-driven parallel robots, real-time pose measurement of the moving platform is a critical problem. Therefore, a high-speed vision measurement system is designed with the high performance industrial camera and a position-based visual servoing (PBVS) control scheme is then proposed. A pose tracking algorithm with the blob tracking is designed and the real-time pose is predicted by using the auto-regressive (AR) model, to avoid the complex forward kinematics of cable-driven parallel robots. Based on the tracking algorithm, the PBVS control scheme is established in the task space and the effectiveness is validated through trajectory tracking experiments implemented on a self-built 6-DOF cable-driven parallel robot. Compared with the joint space control scheme using encoder feedback, the experimental results indicate that the PBVS control scheme has much better performances in the trajectory tracking.

Key words: cable-driven, parallel robot, trajectory tracking, visual servoing

CLC Number:

TP27

YOU Hong, SHANG Weiwei, ZHANG Bin, ZHANG Fei, CONG Shuang. Trajectory Tracking Control of Cable-driven Parallel Robots by Using High-speed Vision[J]. Journal of Mechanical Engineering, 2019, 55(5): 19-26.

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