English
 
Help Privacy Policy Disclaimer
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT
 
 
DownloadE-Mail
 Local TagsRelease HistoryDetailsSummary
  Application of a Differentiator-Based Adaptive Super-Twisting Controller for a Redundant Cable-Driven Parallel Robot

Schenk, C., Masone, C., Pott, A., & Bülthoff, H. (2017). Application of a Differentiator-Based Adaptive Super-Twisting Controller for a Redundant Cable-Driven Parallel Robot. In C. Gosselin, P. Cardou, T. Bruckmann, & A. Pott (Eds.), Cable-Driven Parallel Robots (pp. 254-267). Cham, Switzerland: Springer.

Item is

 

show all hide all

Basic

show hide
Item Permalink: https://hdl.handle.net/21.11116/0000-0000-C399-7 Version Permalink: https://hdl.handle.net/21.11116/0000-0006-BE0E-6
Genre: Conference Paper

Files

show Files

Locators

show
hide
Locator:
https://link.springer.com/content/pdf/10.1007%2F978-3-319-61431-1_22.pdf (Publisher version)
Description:
-
OA-Status:

Creators

show
hide
 Creators:
Schenk, C1, 2, 3, Author           
Masone, C2, 3, Author           
Pott, A, Author
Bülthoff, HH1, 2, 3, Author           
Affiliations:
1Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              
2Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
3Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

Content

show
hide
Free keywords: -
 Abstract: In this paper we present preliminary, experimental results of an Adaptive Super-Twisting Sliding-Mode Controller with time-varying gains for redundant Cable-Driven Parallel Robots. The sliding-mode controller is paired with a feed-forward action based on dynamics inversion. An exact sliding-mode differentiator is implemented to retrieve the velocity of the end-effector using only encoder measurements with the properties of finite-time convergence, robustness against perturbations and noise filtering. The platform used to validate the controller is a robot with eight cables and six degrees of freedom powered by 940W compact servo drives. The proposed experiment demonstrates the performance of the controller, finite-time convergence and robustness in tracking a trajectory while subject to external disturbances up to approximately 400 the mass of the end-effector.

Details

show
hide
Language(s):
 Dates: 2017-08
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1007/978-3-319-61431-1_22
BibTex Citekey: SchenkMPB2017
 Degree: -

Event

show
hide
Title: Third International Conference on Cable-Driven Parallel Robots (CableCon 2017)
Place of Event: Quebec City, Canada
Start-/End Date: 2017-08-02 - 2017-08-04

Legal Case

show

Project information

show

Source 1

show
hide
Title: Cable-Driven Parallel Robots
Source Genre: Proceedings
 Creator(s):
Gosselin, C, Editor
Cardou, P, Editor
Bruckmann, T, Editor
Pott, A, Editor
Affiliations:
-
Publ. Info: Cham, Switzerland : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 254 - 267 Identifier: ISBN: 978-3-319-61430-4

Source 2

show
hide
Title: Mechanisms and Machine Science
Source Genre: Series
 Creator(s):
Affiliations:
Publ. Info: -
Pages: - Volume / Issue: 53 Sequence Number: - Start / End Page: - Identifier: -