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  Port Hamiltonian Modeling of a Cable Driven Robot

Schenk, C., Yüksel, B., Secchi, C., & Bülthoff, H. (2018). Port Hamiltonian Modeling of a Cable Driven Robot. IFAC-PapersOnLine, 51(3), 161-168.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0001-7D4C-F Version Permalink: http://hdl.handle.net/21.11116/0000-0001-EF1B-5
Genre: Conference Paper

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 Creators:
Schenk, C1, 2, Author              
Yüksel, B, Author              
Secchi, C, Author
Bülthoff, HH1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

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 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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 Dates: 2018-05
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: -
 Identifiers: BibTex Citekey: CTYSB2018
DOI: 10.1016/j.ifacol.2018.06.047
 Degree: -

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Title: 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNC 2018)
Place of Event: Valparaíso, Chile
Start-/End Date: 2018-05-01 - 2018-05-04

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Title: IFAC-PapersOnLine
Source Genre: Journal
 Creator(s):
Ramírez, H, Editor
Affiliations:
-
Publ. Info: Frankfurt a.M., Germany : Elsevier
Pages: - Volume / Issue: 51 (3) Sequence Number: - Start / End Page: 161 - 168 Identifier: -