In this paper we present a generic Port-Hamiltonian (PH) model that includes cable dynamics (in particular elasticity and couplings with the platform and all cables among each other) of a cable-driven parallel robot (CDPR), which is used as a motion simulator. Moreover we consider changes in the cable parameters, i.e. it’s elasticity, mass and length when the cables are wound/unwound from the winches. To the best of our knowledge nobody considered such a detailed and generic model of a CDPR in PH structure before. Since motion simulators are built to mimic systems with different physical properties, PH modeling can pave the way for physics-shaping controllers.
Port Hamiltonian Modeling of a Cable Driven Robot / Schenk, Christian; Yüksel, Burak; Secchi, Cristian; Bülthoff, Heinrich H.. - 51:3(2018), pp. 161-168. (Intervento presentato al convegno 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNC) tenutosi a Univ Tecnica Federico Santa Maria, Valparaiso, CHILE nel MAY 01-04, 2018) [10.1016/j.ifacol.2018.06.047].
Port Hamiltonian Modeling of a Cable Driven Robot
Secchi, Cristian;
2018
Abstract
In this paper we present a generic Port-Hamiltonian (PH) model that includes cable dynamics (in particular elasticity and couplings with the platform and all cables among each other) of a cable-driven parallel robot (CDPR), which is used as a motion simulator. Moreover we consider changes in the cable parameters, i.e. it’s elasticity, mass and length when the cables are wound/unwound from the winches. To the best of our knowledge nobody considered such a detailed and generic model of a CDPR in PH structure before. Since motion simulators are built to mimic systems with different physical properties, PH modeling can pave the way for physics-shaping controllers.
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