Port Hamiltonian Modeling of a Cable Driven Robot

Christian Schenk, Heinrich Bulthoff, Burak Yüksel, Cristian Secchi

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)161-168
Number of pages8
JournalIFAC-PapersOnLine
Volume51
Issue number3
DOIs
Publication statusPublished - 2018 Jan 1
Externally publishedYes

Fingerprint

Hamiltonians
Cables
Robots
Elasticity
Simulators
Winches
Physics
Physical properties
Controllers

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Port Hamiltonian Modeling of a Cable Driven Robot. / Schenk, Christian; Bulthoff, Heinrich; Yüksel, Burak; Secchi, Cristian.

In: IFAC-PapersOnLine, Vol. 51, No. 3, 01.01.2018, p. 161-168.

Research output: Contribution to journalArticle

Schenk, Christian ; Bulthoff, Heinrich ; Yüksel, Burak ; Secchi, Cristian. / Port Hamiltonian Modeling of a Cable Driven Robot. In: IFAC-PapersOnLine. 2018 ; Vol. 51, No. 3. pp. 161-168.
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