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Modeling Cable-Driven Joint Dynamics and Friction: a Bond-Graph Approach

Ludovico, Daniele and Guardiani, Paolo and Pistone, Alessandro and Lee, Jinoh and Cannella, Ferdinando and Caldwell, Darwin G. and Canali, Carlo (2020) Modeling Cable-Driven Joint Dynamics and Friction: a Bond-Graph Approach. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, pp. 7285-7291. IEEE. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 25-29 October 2020, Las Vegas, NV, USA (Virtual). doi: 10.1109/IROS45743.2020.9341763. ISBN 978-172816212-6. ISSN 2153-0858.

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Abstract

Cable-driven joints proved to be an effective solution in a wide variety of applications ranging from medical to industrial fields where light structures, interaction with unstructured and constrained environments and precise motion are required. These requirements are achieved by moving the actuators from joints to the robot chassis. Despite these positive properties a cable-driven robotic arm requires a complex cable routing within the entire structure to transmit motion to all joints. The main effect of this routing is a friction phenomenon which reduces the accuracy of the motion of the robotic device. In this paper a bond-graph approach is presented to model a family of cable-driven joints including a novel friction model that can be easily implemented into a control algorithm to compensate the friction forces induced by the rope sliding into bushings.

Item URL in elib:https://elib.dlr.de/137446/
Document Type:Conference or Workshop Item (Speech)
Title:Modeling Cable-Driven Joint Dynamics and Friction: a Bond-Graph Approach
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ludovico, DanieleUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Guardiani, PaoloUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Pistone, AlessandroUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Cannella, FerdinandoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Caldwell, Darwin G.UNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Canali, CarloUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:October 2020
Journal or Publication Title:2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/IROS45743.2020.9341763
Page Range:pp. 7285-7291
Publisher:IEEE
ISSN:2153-0858
ISBN:978-172816212-6
Status:Published
Keywords:cable-driven robot, friction, bond-graph
Event Title:2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Las Vegas, NV, USA (Virtual)
Event Type:international Conference
Event Dates:25-29 October 2020
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Walking Robotics/Locomotion [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lee, Dr. Jinoh
Deposited On:24 Nov 2020 08:38
Last Modified:27 Oct 2023 15:29

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