Indirect Force Control of a Cable-Driven Parallel Robot: Tension Estimation using Artificial Neural Network trained by Force Sensor Measurements

In a cable-driven parallel robot (CDPR), force sensors are utilized at each winch motor to measure the cable tension in order to obtain the force distribution at the robot end-effector. However, because of the effects of friction in the pulleys and the unmodeled cable properties of the robot, the me...

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Detalles Bibliográficos
Autores principales: Piao, Jinlong, Kim, Eui-Sun, Choi, Hongseok, Moon, Chang-Bae, Choi, Eunpyo, Park, Jong-Oh, Kim, Chang-Sei
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6603654/
https://www.ncbi.nlm.nih.gov/pubmed/31159461
http://dx.doi.org/10.3390/s19112520

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6603654/
https://www.ncbi.nlm.nih.gov/pubmed/31159461
http://dx.doi.org/10.3390/s19112520

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