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F. J. Castillo-Garcia
University of Castilla-La Mancha
Automotive Engineering Electrical & Electronics Engineering

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On the Design of a 4 Degrees-of-freedom Pick and Place Cable Suspended Parallel Manipulator F. J. Castillo-Garcia; P. Rea; A. Gonzalez-Rodriguez; E. Ottaviano
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (974.181 KB) | DOI: 10.11591/ijra.v6i4.pp286-302

Abstract

This paper proposes the design and control strategy for a four degrees-of-freedom spatial cable-suspended parallel robot for pick and place operations. Pick and place is a repetitive task requiring payload changes for the movement to pick-up the object, and the movement to the nal pose to release the manipulated object. In this paper, a new robust control strategy has been proposed, together with proper trajectories for the required operation. The control strategy consists on the system decoupling and linearization by means of a feedforward term and a cascade PD controller. The main advantage of the proposed solution is that its design can be scalable in size spanning from centimeters to meters with a relatively good positioning accuracy. Finally, simulations are reported to show the overall performances of the proposed con guration for pick and place operations with a medium size manipulator.
Co-Authors A. Gonzalez-Rodriguez E. Ottaviano P. Rea