Abstract For cable-driven parallel robots, a mobile platform is linked to a fixed frame by multiple flexible cables that are winded by winches, and the main application for such robots is to achieve high-precision motion in a large workspace. However, during the motion process, especially when handling the pick-and-place operations, the parameter uncertainty of the mobile platform in the task space and the uncertain dynamics of the winches in the cable-length space are the two main reasons that may affect the motion accuracy. To make up for these deficiencies, a novel dual-space adaptive synchronization control scheme of redundantly-actuated cable-driven parallel robots is proposed to combine the adaptive synchronization of winches in the cable-length space with the adaptive compensation of the mobile platform in the task space, and the two main reasons are considered separately in their respective spaces. In the proposed control scheme, a new synchronization error is defined to depict the difference of the control accuracy of cables which can be regarded as the coordination motion relation among cables, and a dual-space adaptive method is developed to adaptively compensate for the unknown payload and uncertain model parameters in different spaces. Experiments indicate that the proposed control scheme can greatly improve the control accuracy of each cable and regulate the coordination relation among cables simultaneously, and eventually increase the control accuracy of the mobile platform. Moreover, the experimental results of the pick-and-place operations show that the dual-space parameter adaptation is an effective way to provide the dynamic compensation in the motion control which can ensure high accuracy.

中文翻译：

---

冗余驱动电缆驱动并联机器人的双空间自适应同步控制

摘要 对于电缆驱动的并联机器人，移动平台通过绞车缠绕的多根柔性电缆与固定框架相连，此类机器人的主要应用是在大工作空间内实现高精度运动。然而，在运动过程中，尤其是在处理取放作业时，任务空间中移动平台的参数不确定性和索长空间中绞车的动态不确定性是可能影响的两个主要原因。运动精度。为弥补这些不足，提出了一种新的冗余驱动电缆驱动并联机器人双空间自适应同步控制方案，将电缆长度空间中绞车的自适应同步与移动平台的自适应补偿相结合。任务空间，并且这两个主要原因在各自的空间中分别考虑。在所提出的控制方案中，定义了一个新的同步误差来描述电缆控制精度的差异，可以看作是电缆之间的协调运动关系，并开发了一种双空间自适应方法来自适应补偿未知有效载荷以及不同空间的不确定模型参数。实验表明，所提出的控制方案可以大大提高各条电缆的控制精度，同时调节电缆之间的协调关系，最终提高移动平台的控制精度。而且，