Port Hamiltonian Modeling of a Cable Driven Robot

Christian Schenk; Heinrich H. Bülthoff; Burak Yüksel; Cristian Secchi

doi:10.1016/j.ifacol.2018.06.047

Port Hamiltonian Modeling of a Cable Driven Robot

Christian Schenk, Heinrich H. Bülthoff, Burak Yüksel, Cristian Secchi

Department of Brain and Cognitive Engineering

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

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.

Original language	English
Pages (from-to)	161-168
Number of pages	8
Journal	6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2018
Volume	51
Issue number	3
DOIs	https://doi.org/10.1016/j.ifacol.2018.06.047
Publication status	Published - 2018

Keywords

Cable-Driven parallel robots
elasticity
finite-element modelling
hybrid/switching systems

ASJC Scopus subject areas

Control and Systems Engineering

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10.1016/j.ifacol.2018.06.047

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title = "Port Hamiltonian Modeling of a Cable Driven Robot",

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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author = "Christian Schenk and B{\"u}lthoff, {Heinrich H.} and Burak Y{\"u}ksel and Cristian Secchi",

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language = "English",

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T1 - Port Hamiltonian Modeling of a Cable Driven Robot

AU - Schenk, Christian

AU - Bülthoff, Heinrich H.

AU - Yüksel, Burak

AU - Secchi, Cristian

PY - 2018

Y1 - 2018

N2 - 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.

AB - 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.

KW - Cable-Driven parallel robots

KW - elasticity

KW - finite-element modelling

KW - hybrid/switching systems

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SN - 2405-8963

VL - 51

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JO - 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2018

JF - 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2018

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Port Hamiltonian Modeling of a Cable Driven Robot

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Keywords

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