This paper proposes a technique to control a cable robot in the total absence of a model and its parameters. The cable robot is actuated by three motors whose data, including exact positions, pulley diameters, and nominal cable length, are unknown. We just assume to have a very rough knowledge of lower and upper bounds for the partial derivatives of the relation between the cable lengths and the end-effector space coordinates. A structured-light sensor measures the end-effector position, and the goal is to drive it to a designated point. An algorithm is proposed with guaranteed convergence based on the so-called model-free plant tuning approach. No learning stage is required. Experimental results are reported.

Model-free cable robot control / Blanchini, Franco; Della Schiava, Luca; Fenu, Gianfranco; Giordano, Giulia; Pellegrino, Felice Andrea; Salvato, Erica. - 56:2(2023), pp. 550-555. (Intervento presentato al convegno 22nd IFAC World Congress tenutosi a Yokohama, Japan nel 9th-14th July 2023) [10.1016/j.ifacol.2023.10.1625].

Model-free cable robot control

Giordano, Giulia;
2023-01-01

Abstract

This paper proposes a technique to control a cable robot in the total absence of a model and its parameters. The cable robot is actuated by three motors whose data, including exact positions, pulley diameters, and nominal cable length, are unknown. We just assume to have a very rough knowledge of lower and upper bounds for the partial derivatives of the relation between the cable lengths and the end-effector space coordinates. A structured-light sensor measures the end-effector position, and the goal is to drive it to a designated point. An algorithm is proposed with guaranteed convergence based on the so-called model-free plant tuning approach. No learning stage is required. Experimental results are reported.
2023
22nd IFAC World Congress Proceedings
Amsterdam
Elsevier B.V.
9781713872344
Blanchini, Franco; Della Schiava, Luca; Fenu, Gianfranco; Giordano, Giulia; Pellegrino, Felice Andrea; Salvato, Erica
Model-free cable robot control / Blanchini, Franco; Della Schiava, Luca; Fenu, Gianfranco; Giordano, Giulia; Pellegrino, Felice Andrea; Salvato, Erica. - 56:2(2023), pp. 550-555. (Intervento presentato al convegno 22nd IFAC World Congress tenutosi a Yokohama, Japan nel 9th-14th July 2023) [10.1016/j.ifacol.2023.10.1625].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/409573
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