Cable-driven parallel robots (CDPRs) have low moving inertia and provide high-speed motion over a large workspace. The main challenges of CDPRs stem from the fact that cables should be in tension during motion control. Cable tension is closely related to the synchronization motion relation between cables which is often omitted in the existing controllers for CDPRs. To solve it, this paper proposes two synchronization controllers in the cable space to realize the synchronization motion between cables, and finally increase the tracking accuracy of the moving platform. The two synchronization controllers are proven to guarantee asymptotic convergence to zero of both tracking error and synchronization error. The trajectory tracking experiments are implemented on a self-built three-DOF CDPR, and the experiments are compared with the traditional augmented proportional-derivative controllers neglecting synchronization. The experimental results indicate that the tracking error and the synchronization error of the moving platform decrease greatly by using the synchronization controllers.

中文翻译：

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电缆驱动并联机器人电缆空间的同步控制


电缆驱动并联机器人 (CDPR) 具有较低的移动惯量，可在较大的工作空间内进行高速运动。 CDPR 的主要挑战源于运动控制期间电缆应处于拉紧状态这一事实。电缆张力与电缆之间的同步运动关系密切相关，而现有的 CDPR 控制器经常忽略这一点。针对这一问题，本文提出在电缆空间中设置两个同步控制器来实现电缆之间的同步运动，最终提高运动平台的跟踪精度。两个同步控制器被证明能够保证跟踪误差和同步误差渐近收敛到零。在自建的三自由度CDPR上进行了轨迹跟踪实验，并与忽略同步的传统增强比例微分控制器进行了比较。实验结果表明，采用同步控制器后，动平台的跟踪误差和同步误差大大降低。