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Abstract
In this paper, the mechatronic model of the cable-driven parallel robot IPAnema is presented. The dynamic equations
are established including the dynamic behavior of the mobile platform, the pulley kinematics of the winches, and a cable
model based on linear springs. The model of the actuation systems consists of the electro-dynamic behavior of the power
train as well as the dynamics of the servo controller. The presented model is feasible for real-time simulation, controller
design, as well as case studies for high-dynamic or large-scale robots. Simulation results and experimental measurements
with the parallel robot IPAnema are presented and compared.
Introduction
ISBN 978-3-8007-3273-9
VDE VERLAG GMBH Berlin Offenbach
The mechatronic system of the cable robot IPAnema is divided into a mechanical part including the platform with n
cables and winches on the one side and the electrical part
on the other side as illustrated in Figure 2. The electrical
part consists of n servo motors and position controllers.
The governing numerical control is not further modeled.
Its generated position signal i with i = 1, ..., n is used
as reference signal for the cascaded controller. The dynamic behavior of the individual subsystems is described
by ordinary differential equations (ODEs) of rst or second
order. For simulation and numerical integration the equivalent state space representation is obtained by transforming
the high order ODEs into rst order ODE-systems. The
overall system structure with its forward dynamics, inverse
kinematics, and the modeled subsystems with their associated input and output quantities is shown in Figure 2.
On the electrical side the servo motors are described by
their electrodynamics equations with the supply voltage
udq,i as input quantities and the measured motor currents
idq,i together with torque TSM,i as output quantities. The
measured motor currents are fed back to the inner current
control of the cascaded control. The current controller realizes a eld orientated control, which separately controls
the currents respective the d- and q-axis using id,ref,i , iq,ref,i
as reference input. id,ref,i is set to zero, while iq,ref,i is provided by the upstream velocity control with ref,i as referd
eff,i as actual motor velocity. The generated
ence and dt
motor torque TSM,i acts on the drum inside the winch together with the cable force fi and therefore both are considered as input quantities for the winch mechanics. The
drum angle Drum,i , the effective rotor angle eff,i , and the
rotary velocity eff,i are considered as output quantities
of the winch subsystem, whereas the rotor angle eff,i is
needed for the outer position and velocity control loop.
Describing the platform pose by generalized coordinates
1288
Numerical
control
Environment
fP , P
Position
control
ref,i
Velocity
control
iq,ref,i
Current
control
udq,i
TSM,i
Electro
dynamics
Winch
mechanics
Drum,i
Ampere
meter
Platform
fi
id,ref,i =0
d
dt
x, x,
f
Cables
Position
encoder
AT
Inverse
Kinematics
idq,i
eff,i
Robot electrics
Robot mechanics
a = (0) rC + R0C
ez
R = E + 2pw pQ + 2pTQ pQ .
ex
ISBN 978-3-8007-3273-9
VDE VERLAG GMBH Berlin Offenbach
(3)
ez rP2
ey
4
2 ex
KM 3
(4)
l
rM
rBC
ez
ey
b
K P ex
rC
qG
r, R
ez
ey
K0
ex
(2)
ey
r1
KC
the associated rotation matrix R is derived from the quaternions as shown in [13]
qP
For parallel kinematics the computational effort for solving the forward kinematics is signicant and the solution
is not unique. Here, the proposed simulation model uses
inverse kinematics and forward dynamics, which are fast
and easy to solve and can be done in real-time. To avoid
forward kinematics the generalized coordinates of the platT
form pose are chosen as x = r T T , where r is
the position vector with respect to the inertial frame K0
T
T
and = pw pTQ
with pQ = px py pz
is
the platform rotation described by quaternions in order to
avoid singularities and to provide numerical stability. It
should be noted, that quaternions have to fulll the normalization constraint 2 1 = 0 if used to parameterize
rotations. By introduction of the skew-symmetric matrix
0
pz py
0
pz ,
pQ = pz
(1)
py px
0
u1
b1 u1
AT
un
bn un
f1
fP
..
= 0. (5)
. +
P
fn
w
Using the Newton-Euler formulation for the platform dynamics yields a differential algebraic equation system
1289
(DAE) with six second-order differential equations, one algebraic equation, and seven unknowns
mP E
0
0
IP
Dlin
0
Tx
0
Drot
Drum
T x
0
+
= w + AT f
+
IP P
IP
qD
d
(6)
cA
gC
rP 1
2 1 = 0
(7)
qP
cB
s(Drum ) rP 2
E 0
T =
(8)
0 P
B(x) q
where matrix
P =2
pQ
pw E + pQ
R34
(9)
mP E
0
0
IP P x
=
0
Dlin
0
0
Drot P x +
w + AT f g C
0
(10)
P
P 2
(14)
(15)
(12)
ISBN 978-3-8007-3273-9
VDE VERLAG GMBH Berlin Offenbach
(11)
P is expressed by
while projection of
=
P P .
(17)
1290
(18)
The robots electrical system includes the drives with embedded position controllers for the servo motors, the ampliers, and the servo motors. The ampliers use pulsewidth modulation to provide the motors with the necessary rotating three-phase voltage. For the simulation model
the ampliers are assumed as ideal devices and have not
been modeled while the permanent magnet synchronous
motors (PMSM) are modeled as simplied motors without
damping windings, iron loss, and with symmetrical starconnected motor windings.
(25)
Controller
udq,i =
(19)
(24)
3
ZP,i TI,i dq,i idq,i .
2
(21)
(22)
For the velocity control loop a proportional integral controller with an amplication of k,i
and a time constant
kT ,i
is used. Calculation of the control deviation
i = ref,i eff,i
ISBN 978-3-8007-3273-9
VDE VERLAG GMBH Berlin Offenbach
(23)
1
kd,i (id,i ) + kTd,i
id,i dt
.
1
kq,i (iq,i ) + kTq,i
iq,i dt
(26)
The cable-driven parallel robot IPAnema (Fig. 1) is currently under investigation at the laboratories of Fraunhofer
IPA. This robot provides a six degrees-of-freedom endeffector with seven or eight cables and focuses on industrial applications in the eld of material handling as
well as fast pick-and-place applications. The winches are
equipped with the permanent magnet synchronous motors IndraDyn S by Bosch Rexroth, which contain multiturn absolute encoders allowing to obtain the absolute cable length at any time with a resolution of 50 m. The
control system is based on the Windows PC-based realtime extension RTX and an adopted NC-controller by ISG
(Stuttgart, Germany) as shown in Fig. 6. The robot can be
programmed by G-Code (DIN 66025) similar to machine
tools using the Win32 user interface of ISG-NC. On the
industrial PC the interpolation cycle time of the trajectory
generator is 2 ms.
To get a universal and highly congurable model of the
cable robot which can be used for system investigation
and hardware-in-the-loop simulation, the model is implemented by use of Simulink and Matlab, whereas each subsystem is modeled individually and connected as indicated
in Fig. 2.
The simulation model basically consists of ordinary differential equations, which are implemented by equivalent
block diagrams. Simulink is used for model implementation, while Matlab is used for data management and analysis. The assembly of a single controller, motor, winch and
cable results in a chain of four submodels, which describes
the transfer behavior of a single power train i with the set
point i as input quantity and the cable force fi as output quantity. To get a universal model of the cable robot,
i.e. a model for an arbitrary number of cables and winches
all state variables and signals of the power train are extended by n dimensions. The parametrization of the robot
1291
Control PC
SERCOS Bus
Interface
Win32 Environment
RTX Environment
Process
Shared Memory
NC Kernel
NC- and
System Data
HLI
ISG-NC
User
Interface
Simulation
Data
Graphic
User
Interface
Process
Cable robot
Drives
Simulation
Scheduler
Simulation
Model Thread
System
Clock
Mutex
Simulink Realtime
Workshop
TCP/IP
Interface
Remote PC
3D
Visualization
Data
Files
Simulink Model
Figure 6: Integration of the simulation model with the cable robots numerical control hardware by use of Simulinks
Realt-Time Workshop and the real-time extension RTX
model is done by an XML-le which allows to save different robot congurations and load them on demand. At the
beginning of a simulation run, the XML-le of the desired
simulation model is loaded utilizing the javax.xml.xpath
and javax.xml.parsers class to load the data and assigning them to the related model variables inside the Matlab
workspace. Input data provided by the numerical control
are stored together with the simulation results inside the
Matlab workspace using time series objects which provide
methods for resampling, differentiation, ltering and other
operations enabling efcient data management.The RealTime Workshop of Simulink is used to generate source and
header les for real-time simulation. The les consist of C
or C++ code and provide public functions for accessing the
simulation model.
Running the simulation model inside the real-time environment demands a time deterministic xed step solver for
numerical integration, since variable step solver may violate the time slots given by the real-time environment. Here
a fourth order Runge-Kutta (ODE 4) integrator with a step
width of 9 105 s is used, which allows real-time simulation on the target device. Depending on the available
computational power, different integrators may be used.
After code generation the model is integrated with the RTX
extension and control hardware as shown in Fig. 6. RTX is
a self-contained real-time subsystem running on Windows
platforms while bypassing the Windows scheduler to provide the desired determinism and hard real-time response.
The communication of the real-time subsystem and the
Windows operating system is established using pointers on
a shared memory. While the user interface of the ISG-
ISBN 978-3-8007-3273-9
VDE VERLAG GMBH Berlin Offenbach
Figure 7: Real-time visualization of the platform trajectory of a cable robot with eight cables. The platform orientation is shown by vectors attached to the trace line. The
front area shows the platform behavior near the workspace
boundary
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ISBN 978-3-8007-3273-9
VDE VERLAG GMBH Berlin Offenbach
System Validation
K Winch WWinch,damp
VCable WCable
VP K P WP,damp
WSM,in
Motors
Winches
Cables
Platform
1293
n
n
(WR12,i + VL12,i )
i=1
(KWinch,i + WWinch,damp,i )
i=1
n
(WCable,i + VCable,i )
i=1
!
VP KP WP,damp = 0.
(27)
Deviation (T=30s)
104
Step size [s]
ISBN 978-3-8007-3273-9
VDE VERLAG GMBH Berlin Offenbach
Conclusions
References
1294
0.4
0.2
0
0.2
0.4
0.4
0.2
0
0.2
0.4
0.2
0.4
0.40.2 0 0.2 0.4
x-Axis [m]
z-Axis [m]
x-Axis [m]
0.4
0.2
0
0.2
0.4
y-Axis [m]
0.2
z-Axis [m]
y-Axis [m]
0.4
0.4
0.2
0
0.2
0.40.2 0 0.2 0.4
x-Axis [m]
10
15
20
Simulation time [s]
25
30
Torque [Nm]
2
0
2
4
Torque [Nm]
Figure 10: Simulated (dotted line) and measured (solid line) platform motion in direction of the x-,y- and z-axis.
2
0
2
4
0
10
15
20
Simulation time [s]
25
30
10
15
20
Simulation time [s]
25
30
Figure 11: Simulated (dotted line) and measured (solid line) torque of four individual servo motors with respect to time.
ISBN 978-3-8007-3273-9
VDE VERLAG GMBH Berlin Offenbach
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