Bibliografie tematiche / Cable manipulation

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Letteratura scientifica selezionata sul tema "Cable manipulation"

Autore: Grafiati

Pubblicato: 7 settembre 2024

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Articoli di riviste sul tema "Cable manipulation"

Almaghout, Karam, e Alexandr Klimchik. "Manipulation Planning for Cable Shape Control". Robotics 13, n. 1 (17 gennaio 2024): 18. http://dx.doi.org/10.3390/robotics13010018.

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Abstract (sommario):

The control of deformable linear objects (DLOs) such as cables presents a significant challenge for robotic systems due to their unpredictable behavior during manipulation. This paper introduces a novel approach for cable shape control using dual robotic arms on a two–dimensional plane. A discrete point model is utilized for the cable, and a path generation algorithm is developed to define intermediate cable shapes, facilitating the transformation of the cable into the desired profile through a formulated optimization problem. The problem aims to minimize the discrepancy between the cable configuration and the targeted shape to ensure an accurate and stable deformation process. Moreover, a cable dynamic model is developed in which the manipulation approach is validated using this model. Additionally, the approach is tested in a simulation environment in which a framework of two manipulators grasps a cable. The results demonstrate the feasibility and accuracy of the proposed method, offering a promising direction for robotic manipulation of cables.

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Nozaki, Kyoto, Changjian Ying, Yuichiro Matsuura e Kimitoshi Yamazaki. "Manipulation Planning for Wiring Connector-Attached Cables Considering Linear Object’s Deformability". International Journal of Automation Technology 17, n. 4 (5 luglio 2023): 399–409. http://dx.doi.org/10.20965/ijat.2023.p0399.

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Abstract (sommario):

In this paper, we propose a method of manipulation planning for cable wiring. The method enables to take into account the deformation of cables while connector incorporation process. Using a physical simulation that predicts the shape of a cable based on the pose of both ends of the cable, we generate a connector moving path that avoids intereference between the cable and surrounding structures. We conducted experiments under several different environments and several different lengths of cables, and confirmed that actual cable manipulation can stably be achieved by using the proposed method.

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Sanchez, Daniel, Weiwei Wan e Kensuke Harada. "Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer". Robotics 9, n. 1 (6 marzo 2020): 11. http://dx.doi.org/10.3390/robotics9010011.

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Abstract (sommario):

Handling and maneuvering tools across a robot workspace is a challenging task that often requires the implementation of constrained motion planning. In the case of wired or tethered tools, their maneuvering becomes considerably harder by the tool cable. If the cable presence is not considered, the robot motions may make the cable become entangled with the robot arms or elements of its workspace, causing accidents or unnecessary strain on the robot and the tool. Furthermore, the behavior of the tool cable during manipulation and its degree of entanglement around the robot are difficult to predict. The present paper introduces a constrained manipulation planner for dual-armed tethered tool manipulation involving tool re-grasping. Our solution employs a tool balancer to straighten the tool cable and facilitate the cable deformation problem. The planner predicts the cable states during manipulation and restricts the robot motions in order to avoid cable entanglements and collisions while performing tool re-posing tasks. Furthermore, the planner also applies orientational constraints to limit the cable bending, reducing the torque and stress suffered by the robot due to the cable tension. Simulations and real-world experiments validated the presented method.

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Cho, Gun-Rae, Geonhui Ki, Mun-Jik Lee, Hyungjoo Kang, Min-Gyu Kim e Ji-Hong Li. "Experimental Study on Tele-Manipulation Assistance Technique Using a Touch Screen for Underwater Cable Maintenance Tasks". Journal of Marine Science and Engineering 9, n. 5 (30 aprile 2021): 483. http://dx.doi.org/10.3390/jmse9050483.

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Abstract (sommario):

In underwater environments restricted from human access, many intervention tasks are performed by using robotic systems like underwater manipulators. Commonly, the robotic systems are tele-operated from operating ships; the operation is apt to be inefficient because of restricted underwater information and complex operation methods. In this paper, an assistance technique for tele-manipulation is investigated and evaluated experimentally. The key idea behind the assistance technique is to operate the manipulator by touching several points on the camera images. To implement the idea, the position estimation technique utilizing the touch inputs is investigated. The assistance technique is simple but significantly helpful to increase temporal efficiency of tele-manipulation for underwater tasks. Using URI-T, a cable burying ROV (Remotely Operated Vehicle) developed in Korea, the performance of the proposed assistance technique is verified. The underwater cable gripping task, one of the cable maintenance tasks carried out by the cable burying ROV, is employed for the performance evaluation, and the experimental results are analyzed statistically. The results show that the assistance technique can improve the efficiency of the tele-manipulation considerably in comparison with the conventional tele-operation method.

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Gebauer, Daniel, Jonas Dirr, Luca Martin e Rüdiger Daub. "Grasp Analysis for the Robot-Based Manipulation of Pre-Assembled Cables with Electrical Connectors". Applied Sciences 13, n. 11 (25 maggio 2023): 6462. http://dx.doi.org/10.3390/app13116462.

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Abstract (sommario):

The mounting of pre-assembled cables with electrical connectors is mainly carried out manually in industry today. An exemplary application is the interconnection of battery modules. Automation of such assembly tasks offers the potential for increasing efficiency but requires the design of suitable gripper systems. This is challenging as the cable induces state-dependent forces and torques on the gripper system, which must be transmitted via the complex surface geometries of the plugs. Currently, the required grasp force cannot be determined in advance but only after prototypes have been manufactured and with elaborate physical experiments. To overcome these drawbacks, we present a methodology for the grasp analysis of pre-assembled cables with electrical connectors. The novelty of this approach is to combine a physics simulation for deformable linear objects with a contact model for non-planar grasping surfaces. The results indicate that the cable deformation significantly affects the required grasp force. In addition, each combination of contact surface and dynamic cable deformation results in an individual grasp force course. The methodology enables comparison of different electrical connectors and their grasping surfaces, as well as cables and their manipulation paths, efficiently and with little expert knowledge.

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Zhou, Xiaobo, Seung-kook Jun e Venkat Krovi. "Tension distribution shaping via reconfigurable attachment in planar mobile cable robots". Robotica 32, n. 2 (27 novembre 2013): 245–56. http://dx.doi.org/10.1017/s0263574713001008.

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Abstract (sommario):

SUMMARYTraditional cable robots derive their manipulation capabilities using spooling winches at fixed base locations. In our previous work, we examined enhancing manipulation capabilities of cable robots by the addition of base mobility to spooling winches (allowing a group of mobile robots to cooperatively manipulate a payload using cables). Base mobility facilitated the regulation of the tension-direction (via active coordination of mobile bases) and allowed for better conditioning of the wrench-feasible workspace. In this paper we explore putting idler pulleys on the payload attachment as alternate means to simplify the design and enable practical deployment. We examine analysis of the system using ellipse geometry and develop a virtual cable-subsystem formulation (which also facilitates subsumption into the previously developed mobile cable robot analysis framework). We also seek improvement of the tension distribution by utilizing configuration space redundancy to shape the tension null space. This tension distribution shaping is implemented in the form of a tension factor optimization problem over the workspace and explored via both simulation and experimental studies.

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Almaghout, K., e A. Klimchik. "Vision-Based Robotic Comanipulation for Deforming Cables". Nelineinaya Dinamika 18, n. 5 (2022): 0. http://dx.doi.org/10.20537/nd221213.

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Abstract (sommario):

Although deformable linear objects (DLOs), such as cables, are widely used in the majority of life fields and activities, the robotic manipulation of these objects is considerably more complex compared to the rigid-body manipulation and still an open challenge. In this paper, we introduce a new framework using two robotic arms cooperatively manipulating a DLO from an initial shape to a desired one. Based on visual servoing and computer vision techniques, a perception approach is proposed to detect and sample the DLO as a set of virtual feature points. Then a manipulation planning approach is introduced to map between the motion of the manipulators end effectors and the DLO points by a Jacobian matrix. To avoid excessive stretching of the DLO, the planning approach generates a path for each DLO point forming profiles between the initial and desired shapes. It is guaranteed that all these intershape profiles are reachable and maintain the cable length constraint. The framework and the aforementioned approaches are validated in real-life experiments.

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Li, Changquing, e Christopher D. Rahn. "Design of Continuous Backbone, Cable-Driven Robots". Journal of Mechanical Design 124, n. 2 (16 maggio 2002): 265–71. http://dx.doi.org/10.1115/1.1447546.

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Abstract (sommario):

Continuous backbone robots driven by cables have many potential applications in dexterous manipulation for manufacturing and space environments. Design of these robots requires specification of a stiff yet bendable backbone, selection of cable support heights and spacings, and development of a cable drive system. The robot arm divides into sections that are subdivided into segments bounded by cable supports. Cable pairs attach to the end of each section and provide two axis bending. Thus, with many sections, the arm can be bent into complex shapes to allow redundant positioning of the end effector payload. The kinematics of the entire arm are determined from the segment kinematics. This paper derives and numerically solves the nonlinear kinematics for a single segment of a continuous backbone robot. Optimal spacing of the cable supports maximizes displacement, load capacity, and simplicity of the robot kinematics. An experimental system verifies the theoretically predicted performance.

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Estevez, Julian, Gorka Garate, Jose Manuel Lopez-Guede e Mikel Larrea. "Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors". Drones 8, n. 2 (25 gennaio 2024): 35. http://dx.doi.org/10.3390/drones8020035.

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Abstract (sommario):

Payload transportation and manipulation by rotorcraft drones are receiving a lot of attention from the military, industrial and logistics research areas. The interactions between the UAV and the payload, plus the means of object attachment or manipulation (such as cables or anthropomorphic robotic arms), may be nonlinear, introducing difficulties in the overall system performance. In this paper, we focus on the current state of the art of aerial transportation systems with suspended loads by a single UAV and a team of them and present a review of different dynamic cable models and control systems. We cover the last sixteen years of the existing literature, and we add a discussion for evaluating the main trends in the referenced research works.

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Lin, J., CS Huang e J. Chang. "A mechatronic kit with a control methodology for a modualized cable-suspended robot". Journal of Vibration and Control 22, n. 20 (10 agosto 2016): 4211–26. http://dx.doi.org/10.1177/1077546315573905.

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Abstract (sommario):

Cable-suspended robots are categorized as a type of parallel manipulator that has recently attracted interest in terms of manipulation tasks. The main goal of this paper is to develop a novel mechatronic kit with a control methodology for a modularized cable-suspended robot. The advantages of such system owns modular and reconfigurable over conventional robots. In addition, position and orientation of the end-effector is forced toward the desired values by control of cable lengths. Hence, the new approach for forward and inverse kinematic calculation procedure based on the change of the cable lengths is used to measure the position and orientation of the mobile platform. Furthermore, the input shaping algorithm is implemented for point-to-point control purposes. The modified input shaping uses the s curve command (S-type) to offer superior performance than conventional trapezoidal command (T-type) in point-to-point positioning control. Experimental validation demonstrates the cable oscillation suppression effectiveness of the proposed S-type input shaping control command.

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Più fonti

Tesi sul tema "Cable manipulation"

Smolentsev, Lev. "Shape visual servoing of a suspended cable". Electronic Thesis or Diss., Université de Rennes (2023-....), 2024. http://www.theses.fr/2024URENS009.

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Abstract (sommario):

Cette thèse se situe dans le domaine de l’interaction robotique avec des objets déformables. Elle présente une approche de commande robotique pour la manipulation autonome d'un câble déformable attaché entre 2 robots et soumis à la gravité. Le travail de recherche a porté sur l'élaboration d'une approche d'asservissement visuel qui utilise une caméra RGB-D pour extraire la forme du câble et l'angle de lacet du plan vertical qui le contient. Pour concevoir la commande du système, nous avons proposé d’utiliser, en tant qu’informations visuelles, les coefficients d'une courbe parabolique représentant une approximation de la forme du câble et l'angle de lacet de son plan. Le modèle d'interaction qui relie les variations de ces informations visuelles aux vitesses des extrémités du câble a été dérivé analytiquement. Des résultats expérimentaux ont dans un premier temps été obtenus avec un bras robotique manipulant une extrémité du câble et ont démontré l'efficacité de cette approche d'asservissement visuel pour déformer le câble vers une configuration de forme désirée. Cette approche a ensuite été adaptée à la manipulation robotique aérienne et validée expérimentalement sur un scénario robotique impliquant la saisie et le transport d'un objet par un câble manipulé par deux drones quadrotors dont l’un, qui est équipé d'une caméra RGB-D, est contrôlé par la méthode d’asservissement visuel proposée
This PhD thesis deals with robotic interaction with deformable objects. It presents a robotic control approach for the autonomous manipulation of a deformable cable attached between 2 robots and subjected to gravity. The research work focused on developing a visual servoing approach that uses an RGB-D camera to extract the shape of the cable and the yaw angle of the vertical plane containing it. To design the system control, we proposed to use, as visual features, the coefficients of a parabolic curve representing an approximation of the cable shape and the yaw angle of its plane. The interaction model that relates the variations of these visual features to the velocities of the cable extremities was analytically derived. Experimental results were first obtained with a robotic arm manipulating one end of the cable, demonstrating the effectiveness of this visual servoing approach in deforming the cable to a desired shape configuration. This approach was then adapted to aerial robotic manipulation and experimentally validated on a robotic scenario that involves the grasping and transport of an object by a tether cable manipulated by two quadrotor UAVs with one being equipped with an RGB-D camera and controlled by the proposed visual servoing method

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Kumar, Atal Anil. "Conception et commande d'un robot à câbles pour la manipulation dextre de pièces sur des chaînes de production". Electronic Thesis or Diss., Université de Lorraine, 2020. http://www.theses.fr/2020LORR0269.

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Abstract (sommario):

L’objectif de cette thèse est de concevoir et de contrôler un système de Robot Parallèle à Câbles (RPC) à quatre câbles pour la manipulation dextre de pièces sur des chaînes de production. Pour une ligne de fabrication déjà installée, l’espace de travail est souvent limité et l’ajout d’un nouveau robot-sériel sur le sol de l’atelier est parfois difficile. L’utilisation du plafond pour fixer une machine lourde n’est pas toujours possible car il pourrait être nécessaire de renforcer la structure. Le RPC est un moyen de réaliser la tâche avec une faible modification de l’atelier existant. La nouveauté du travail réside dans le fait que la majorité des conceptions existantes placent les moteurs d’actionnement et les treuils de la plate-forme de base, alors que dans ce travail, les moteurs d’actionnement sont embarqués sur la plate-forme mobile, ce qui permet de fixer facilement le RPC dans la chaîne de fabrication avec des points d’ancrage simples. Tout d’abord, l’espace de travail du RPC pour l’environnement souhaité est étudié. La nature sous-actionnée du robot et la contrainte d’une force de tension positive du câble imposés en raison de la flexibilité des câbles limitent sont la base d’une étude sur l’espace de travail respectant les conditions d’équilibre statique. Les équations d’équilibre statique classiques ont été utilisés pour calculer l’espace de travail du robot et le comportement correspondant de la plateforme mobile. Les angles d’orientation de la plate-forme ont été présentés. Plusieurs études de cas ont été montres avec différentes charges utiles attachées à la plate-forme mobile. Les dimensions de la plate-forme mobile et la structure de base ont également été modifiées afin de calculer le domaine de l’espace de travail où les performances du robot peuvent être satisfaisantes. Les dimensions du prototype ont été fixées en tenant compte de l’espace de travail. Par la suite, le modèle dynamique classique du RPC a été utilisé pour mettre en œuvre la loi de contrôle. La deuxième partie de la thèse présente la conception et la mise en œuvre des lois de contrôle pour la RPC. La linéarisation classique de la rétroaction entrée- sortie (IOFL) est développée et des résultats de simulation ont été présentés. Le rôle de la dynamique interne présente dans le système en raison de la sous-performance a été démontré en utilisant leur diagramme de phase. Deux solutions possibles ont été envisagées afin de réduire l’effet des dynamiques internes sur le système. La première solution consiste à utiliser des proportions appropriées pour la plate-forme et la structure de base. Des résultats de simulation ont été présentés pour montrer le comportement de la plate-forme lorsque les dimensions sont modifiées. Une linéarisation modifiée de la rétroaction (MFL) a été proposé comme une solution ad-hoc pour éliminer les effets de la dynamique interne. Les résultats de la simulation obtenus montrent que la solution ad-hoc proposée fonctionne efficacement et nettement mieux que la technique classique de l’IOFL pour certaines dimensions du RPC. L’utilisation de cette approche pour différents cas de RPC doit faire l’objet d’une étude enquête. Les résultats expérimentaux validant la technique de l’IOFL sont présentés pour démontrer le comportement satisfaisant de le RPC avec le contrôle. L’objectif global du projet est de développer un robot parallèle à câble qui peut travailler avec un opérateur dans une chaîne de fabrication pleinement fonctionnelle et aider le travailleur à soulever les objets lourds ou chauds. Cette thèse réalise la première étape pour rendre un prototype de RPC qui sera par la suite amélioré pour le rendre collaboratif
This thesis aims to design and control an underactuated Cable-Driven Parallel Robot (CDPR) with four cables for the agile handling of parts in a manufacturing line. For already installed manufacturing lines, most of the available working space is often used, and adding a new serial robot on the workshop ground is sometimes difficult. Using the ceiling to fix heavy machines is not always possible, and it could be necessary to reinforce the structure. CDPR is a way to achieve the work with a light structure, with low modification of the existing workshop. The novelty of the work lies in the fact that the majority of the existing designs place the actuating motors and the winches on the base platform, whereas in this work, the actuating motors are placed on the moving platform, making it convenient for the CDPR to be fixed in the manufacturing line with simple anchor points. First, the workspace of the CDPR for the desired environment is investigated. The underactuated nature of the robot and the positive cable tension constraint imposed due to the flexibility of the cable limit the workspace investigation to static equilibrium conditions. The classical static equilibrium equations have been used to calculate the robot workspace and the corresponding behavior of the plat- form orientation angles have been presented. Several case studies have been shown with different payloads attached to the moving platform. The dimensions of the moving platform and the base structure have also been changed to understand the possible region of the workspace where the robot performance can be satisfactory. The prototype dimensions have been fixed taking into account the workspace performance. Following this, the classical dynamic model developed in the field of CDPR has been used to implement the control law on the CDPR. The second part of the thesis presents the design and implementation of the control laws for the CDPR. The classical Input-Output Feedback Linearization (IOFL) technique is developed and simulation results have been presented. The role of internal dynamics present in the system because of the underactuation is demonstrated using their phase-plane plots. Two possible solutions have been suggested to reduce the effect of internal dynamics on the system. The first solution is to use appropriate dimensions for the platform and the base structure. Simulation results have been presented to show the behavior of the platform when the dimensions are changed. A Modified Feedback Linearization (MFL) has been proposed as an ad-hoc solution for eliminating the effects of the internal dynamics. The simulation results obtained show that the proposed ad-hoc solution performs efficiently and significantly better than the classical IOFL technique for certain dimensions of the CDPR. The use of this approach for different cases of CDPR needs to be investigated. Experimental results validating the IOFL technique are presented to demonstrate the satisfactory behavior of the CDPR with the control law developed during the thesis. The overall objective of the project is to develop a CDPR that can work with an operator in a fully functional manufacturing line and aid the worker in lifting heavy or hot objects. This thesis achieves the first step in making a functional prototype of a CDPR which will be improved further to make it collaborative

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Meunier, Gabriel. "Control of an overactuated cable-driven parallel manipulator". Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=99779.

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Abstract (sommario):

The Large Adaptive Reflector is the Canadian concept for a new type of large-scale radio telescope. This new telescope is composed of a reflector made of individually actuated panels and a multi-tethered feed platform held aloft by an aerostat. The present thesis focuses on the position and orientation control of the feed platform. In the first part of the thesis, a model of both the cable and the feed platform are derived. Then, a control fully adapted to the particular system's dynamics is designed. This control strategy is based on the cascade control technique. The inner control loop adjusts the tension in each cable. The inner loop controller is synthesized using Hinfinity optimal control technique. In addition, gain scheduling is used to adapt the Hinfinity optimal controller to the cable properties. The outer control loop corrects the pose of the feed platform. To do this, control techniques such as Inverse Dynamics Control, PID controller and Hinfinity robustness analysis are used. Then, the model derived previously is connected to the multi-loop controller. Simulation is run and the control strategy performance level is calculated from simulation results.

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Montgomery, Forrest. "Design and Control of a Planar Cable Suspended Parallel Manipulator". Thesis, University of Louisiana at Lafayette, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10608124.

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Abstract (sommario):

Cable Suspended Parallel Manipulators represent an emerging field of study due to the complexities predicting their pose. Despite this issue, suspended cable manipulators possess several advantages over fully-constrained cable manipulators. These include, among others, ease of setup and fewer cables. The reduction in cables relieves excess force computation and likelihood of cable interference.

Two planar Cable Suspended Parallel Manipulator models were created. One has one end-effector connection point, a pendulum type

CSPM

, and the other has two connection points, a suspended plate type

CSPM

. The model's dynamic properties were explored to create system input commands that limited residual vibration. Simulations were run demonstrating the effectiveness of the control methods.

The simulations were verified using experimental data. The pendulum type

CSPM

experiments were performed on a small-scale

CSPM

setup, while the platform type

CSPM

experiments were performed on a full-scale bridge-inspecting robot. The control method created for both experiments proved to reduce the vibration opposed to no control method. The

CSPM

model was also used to create a cooperative input control method, which reduced the risetime of the control command, while still providing vibration reduction.

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Montgomery, Robert H. (Robert Hall). "Design and analysis of a lightweight parallel cable-controlled manipulator". Thesis, Massachusetts Institute of Technology, 1987. http://hdl.handle.net/1721.1/14687.

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Chan, Edmon. "Design and Implementation of a High Speed Cable-Based Planar Parallel Manipulator". Thesis, University of Waterloo, 2005. http://hdl.handle.net/10012/835.

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Abstract (sommario):

Robotic automation has been the major driving force in modern industrial developments. High speed pick-and-place operations find their place in many manufacturing applications. The goal of this project is to develop a class of high speed robots that has a planar workspace. The presented robots are intended for pick-and-place applications that have a relatively large workspace. In order to achieve this goal, the robots must be both stiff and light. The design strategies adapted in this study were expanded from the research work by Prof Khajepour and Dr. Behzadipour. The fundamental principles are to utilize a parallel mechanism to enhance robot stiffness and cable construction to reduce moving inertia. A required condition for using cable construction is the ability to hold all cables under tension. This can only be achieved under certain conditions. The design phase of the study includes a static analysis on the robot manipulator that ensures certain mechanical components are always held under tension. This idea is extended to address dynamic situations where the manipulator velocity and acceleration are bounded. Two concept robot configurations, 2D-Deltabot, and 2D-Betabot are presented. Through a series of analyses from the robot inverse kinematic model, the dynamic properties of a robot can be computed in an effective manner. It was determined that the presented robots can achieve 4g acceleration and 4m/s maximum speed within their 700mm by 100mm workspace with a pair of 890W rotary actuators controlling two degrees of freedom. The 2D-Deltabot was chosen for prototype development. A kinematics calibration algorithm was developed to enhance the robot accuracy. Experimental test results had shown that the 2D-Deltabot was capable of running at 81 cycles per minute on a 730mm long pick-and-place path. Further experiments showed that the robot had a position accuracy of 0. 62mm and a position repeatability of 0. 15mm, despite a few manufacturing errors from the prototype fabrication.

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Elghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control". Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.

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Abstract (sommario):

L’industrie offshore, pétrolière et gazière est le principal utilisateur des robots sous-marins, plus particulièrement de véhicules télé-opérés (ou ROV, Remotely Operated Vehicle). L'inspection, la construction et la maintenance de diverses installations sous-marines font parties des applications habituelles des ROVs dans l’industrie offshore. La capacité à maintenir un positionnement stable du véhicule ainsi qu’à soulever et déplacer des charges lourdes est essentielle pour certaines de ces applications. Les capacités de levage des ROVs sont cependant limitées par la puissance de leur propulsion. Dans ce contexte, cette thèse présente un nouveau concept d’actionnement hybride constitué de câbles et de propulseurs. Le concept vise à exploiter les fortes capacités de levage des câbles, actionnés par exemple depuis des navires de surfaces, afin de compléter l’actionnement d’un robot sous-marin. Plusieurs problèmes sont soulevés par la nature hybride (câbles et propulseurs) de ce système d'actionnement. En particulier, nous étudions l’effet de l'actionnement supplémentaire des câbles par rapport à un actionnement exploitant uniquement des propulseurs et nous tâchons de minimiser les efforts exercés par ces derniers. Ces deux objectifs sont les principales contributions de cette thèse. Dans un premier temps, nous modélisons la cinématique et la dynamique d'un robot sous-marin actionné à la fois par des propulseurs et des câbles et équipé d'un bras manipulateur. Un tel système possède une redondance cinématique et d'actionnement.. L'étude théorique sur l'influence de l'actionnement supplémentaire par câbles est appuyée par une étude en simulation, comparant les capacités de force d'un système hybride (câbles et propulseurs) à celles d'un système actionné uniquement par des propulseurs. L'évaluation des capacités est basée sur la détermination de l'ensemble des forces disponibles, en considérant les limites des forces d'actionnement. Une nouvelle méthode de calcul est proposée, pour déterminer l'ensemble des forces disponibles. Cette méthode est basée sur le calcul de la projection orthogonale de polytopes et son coût calculatoire est analysé et comparé à celui d'une méthode de l’état de l’art. Nous proposons également une nouvelle méthode pour le calcul de la distribution des forces d'actionnement, permettant d'affecter une priorité supérieure au sous-système d'actionnement par câbles afin de minimiser les efforts exercés par les propulseurs. Plusieurs cas d'études sont proposés pour appuyer les méthodes proposées
The offshore industry for oil and gas applications is the main user of underwater robots, particularly, remotely operated vehicles (ROVs). Inspection, construction and maintenance of different subsea structures are among the applications of ROVs in this industry. The capability to keep a steady positioning as well as to lift and deploy heavy payloads are both essential for most of these applications. However, these capabilities are often limited by the available on-board vehicle propulsion power. In this context, this thesis introduces the novel concept of Hybrid Cable-Thruster (HCT)-actuated Underwater Vehicle-Manipulator Systems (UVMS) which aims to leverage the heavy payload lifting capabilities of cables as a supplementary actuation for ROVs. These cables are attached to the vehicle in a setting similar to Cable-Driven Parallel Robots (CDPR). Several issues are raised by the hybrid vehicle actuation system of thrusters and cables. The thesis aims at studying the impact of the supplementary cable actuation on the capabilities of the system. The thesis also investigate how to minimize the forces exerted by thrusters. These two objectives are the main contributions of the thesis. Kinematic, actuation and dynamic modeling of HCT-actuated UVMSs are first presented. The system is characterized not only by kinematic redundancy with respect to its end-effector, but also by actuation redundancy of the vehicle. Evaluation of forces capabilities with these redundancies is not straightforward and a method is presented to deal with such an issue. The impact of the supplementary cable actuation is validated through a comparative study to evaluate the force capabilities of an HCT-actuated UVMS with respect to its conventional UVMS counterpart. Evaluation of these capabilities is based on the determination of the available forces, taking into account the limits on actuation forces. A new method is proposed to determine the available force set. This method is based on the orthogonal projection of polytopes. Moreover, its computational cost is analyzed and compared with a standard method. Finally, a novel force resolution methodology is introduced. It assigns a higher priority to the cable actuation subsystem, so that the forces exerted by thrusters are minimized. Case studies are presented to illustrate the methodologies presented in this thesis

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Ben, abdallah Fida. "Modeling and control of a cabel driven parallel manipulator suspended by a heavy lift airship". Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLE009/document.

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Abstract (sommario):

A l'heure où le monde entier appelle à développer de nouvelles technologies de transport afin de faire face au défi écologique, des projets de dirigeables gros porteurs permettent de relever ce défi. En outre, les dernières avancées technologiques dans le domaine de l'aérospatiale ont permis de résoudre un certain nombre de problèmes responsables de l'hibernation des grands dirigeables pendant plus d'un demi-siècle. Ceci a donné naissance à de nouveaux types de dirigeables gros porteurs. Dans cette thèse, le modèle dynamique du dirigeable gros porteur est défini afin de concevoir un contrôleur efficient.La particularité du dirigeable présenté est sa capacité de charger et de décharger le fret en vol stationnaire, ce qui permet de réduire l'apport logistique et humain par rapport à des scénarios comportant un atterrissage et permet ainsi l'utilisation de cet engin dans des zones ayant peu ou pas d'infrastructure.Ce dirigeable est muni d'une grue formée par un robot parallèle à câbles (RPC) permettant d'optimiser le chargement et déchargement. Cette phase étant la plus sensible, car la charge suspendue peut osciller dangereusement notamment sous l'effet de bourrasques de vent sur le dirigeable. Nous avons concentré nos efforts dans cette thèse à l'analyse de cette phase critique.Le dirigeable gros porteur sera représenté par un système multi-corps composé de plusieurs corps reliés entre eux par des articulations. Les contributions de la thèse sont présentées en deux parties. Dans la première partie, nous supposons qu'il n'y a pas de couplage inertiel entre le dirigeable et le RPC. Ainsi nos recherches ne concernent que le RPC en tenant compte de la mobilité de la base suspendue par des câbles considérés dans un premier temps comme idéaux, puis les phénomènes d'affaissement et de flexibilité des câbles seront pris en compte. La conception de la commande de ce système doit aussi intégrer une répartition optimale de la tension car les câbles doivent à chaque configuration rester tendus. Dans la deuxième partie, nous abordons l'analyse du système global en considérant l'effet de couplage inertiel entre la charge utile suspendue et le dirigeable. Le modèle dynamique de ce système multicorps formé par le dirigeable et le RPC peut être modélisé comme une interconnexion de sous-systèmes d'ordre inférieur. Nous supposons que le dirigeable gros porteur est un sous-système faiblement couplé. En se basant sur cette hypothèse, un contrôleur décentralisé est proposé permettant de contrôler indépendamment le dirigeable et le RPC. Les résultats des simulations numériques sont présentés et montrent la puissance de ce contrôleur
In the recent years, researchers have become increasingly interested in the development of radically new and sustainable transportation modes for both passengers and cargo. These challenges have led to study in areas of knowledge that were dormant, such as the potential of using lighter than air aircraft for cargo transportation. The focus of this thesis is the development of a control architecture that can be integrated on autonomous heavy lift airship and thereby enables safe cargo exchange process. Besides, the dynamic model of the heavy lift airship must be clarified before designing a controller. This system makes use of a Cable Driven Parallel Manipulator (CDPM), allowing the airship to load and unload cargo while hovering. The heavy lift airship is a multi-body systems in which multiple rigid bodies are joined together. During loading and unloading process, the transferred cargo can oscillate due toairship maneuvers. On the other hand, the pendulum-like behavior of suspended load canalter the flight characteristics of the airship. The thesis contributions are presented in two parts. In the first part, we assume that there is no inertial coupling between the airship and CDPM. Hence, our researches concern only the CDPM tacking into account the base mobility at first and then the cable sagging phenomena. The control design should integrate an optimal tension distribution since cables must remain in tension.In the second part, we address the analysis of the heavy lift airship considering the coupling effect between the suspended payload and the airship. To describe the dynamics coupling, the basic motion of one subsystem is regarded as an external disturbance input for the other one. Hence, the dynamic model of this multi-body system composed of the airship and the CDPM can be modeled as an interconnection of lower order subsystems. We assume that the heavy lift airship is a weakly coupled subsystems. Based on this assumption, we design a decentralized controller, which makes it possible to control the airship and the CDPM independently. Numerical simulation results are presented and stability analysis are provided to confirm the accuracy of our derivations

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Riechel, Andrew T. "Force-Feasible Workspace Analysis and Motor Mount Disturbance Compensation for Point-Mass Cable Robots". Thesis, Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/5243.

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Abstract (sommario):

Cable-actuated manipulators (or 'cable robots') constitute a relatively new classification of robots which use motors, located at fixed remote locations, to manipulate an end-effector by extending or retracting cables. These manipulators possess a number of unique properties which make them proficient with tasks involving high payloads, large workspaces, and dangerous or contaminated environments. However, a number of challenges exist which have limited the mainstream emergence of cable robots. This thesis addresses two of the most important of these issues-- workspace analysis and disturbance compensation. Workspace issues are particularly important, as many large-scale applications require the end-effector to operate in regions of a particular shape, and to exert certain minimum forces throughout those regions. The 'Force-Feasible Workspace' represents the set of end-effector positions, for a given robot design, for which the robot can exert a set of required forces on its environment. This can be considered as the robot's 'usable' workspace, and an analysis of this workspace shape for point-mass cable robots is therefore presented to facilitate optimal cable robot design. Numerical simulation results are also presented to validate the analytical results, and to aid visualization of certain complex workspace shapes. Some cable robot applications may require mounting motors to moving bases (i.e. mobile robots) or other surfaces which are subject to disturbances (i.e. helicopters or crane arms). Such disturbances can propagate to the end-effector and cause undesired motion, so the rejection of motor mount disturbances is also of interest. This thesis presents a strategy for measuring these disturbances and compensating for them. General approaches and implementation issues are explored qualitatively with a simple one-degree-of-freedom prototype (including a strategy for mitigating accelerometer drift), and quantitative simulation results are presented as a proof of concept.

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Bulenínec, Martin. "Aplikace lanového robota". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2017. http://www.nusl.cz/ntk/nusl-316240.

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Abstract (sommario):

The thesis deals with the changes of a cable robot to a manipulator. The mechanical changes are mostly about adding an active part to a moving platform with the ability to transfer objects and the effort to exchange the silicon cables for metal ones. The main part of the thesis is the proposed design and implementation of the algorithm for detection of a possible collision of the cable robot with an object in its working space.

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Libri sul tema "Cable manipulation"

The book of photography. London: DK Pub., 2005.

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Capitoli di libri sul tema "Cable manipulation"

Zarebidoki, Mahmoud. "Adaptive Robust Control of a Cable-Driven Underwater Manipulator with Elastic Cables". In Robot Intelligence Technology and Applications 7, 365–72. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-26889-2_33.

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Maier, T., e C. Woernle. "Inverse Kinematics for an Underconstrained Cable Suspension Manipulator". In Advances in Robot Kinematics: Analysis and Control, 97–104. Dordrecht: Springer Netherlands, 1998. http://dx.doi.org/10.1007/978-94-015-9064-8_10.

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Heyden, T., T. Maier e C. Woernle. "Trajectory Tracking Control for a Cable Suspension Manipulator". In Advances in Robot Kinematics, 125–34. Dordrecht: Springer Netherlands, 2002. http://dx.doi.org/10.1007/978-94-017-0657-5_14.

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Tang, Ruijie, Qizhi Meng, Fugui Xie, Xin-Jun Liu e Jinsong Wang. "Cable-Driven Redundant Manipulator with Variable Stiffness Mechanisms". In Advances in Mechanism, Machine Science and Engineering in China, 1263–79. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-19-9398-5_78.

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Dai, Yicheng, Xiran Li, Xin Wang e Han Yuan. "A Novel Cable-Driven Manipulator with Constant-Curvature Deflections and Equal Displacements of the Antagonistic Cables". In Intelligent Robotics and Applications, 76–87. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-13841-6_8.

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Berkelman, Peter J., Philippe Cinquin, Jocelyne Troccaz, Jean-Marc Ayoubi e Christian Létoublon. "Development of a Compact Cable-Driven Laparoscopic Endoscope Manipulator". In Medical Image Computing and Computer-Assisted Intervention — MICCAI 2002, 17–24. Berlin, Heidelberg: Springer Berlin Heidelberg, 2002. http://dx.doi.org/10.1007/3-540-45786-0_3.

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Pachouri, Vipin, e Pushparaj Mani Pathak. "Inverse Kinematic Model of a Cable-Driven Continuum Manipulator". In Lecture Notes in Mechanical Engineering, 553–64. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-1769-0_50.

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Li, Yanan, Ying Li, Deshan Meng, Yu Liu, Xueqian Wang e Bin Liang. "Tension Optimization of a Cable-Driven Coupling Manipulator Based on Robot Dynamics with Cable Elasticity". In Intelligent Robotics and Applications, 399–411. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-27535-8_36.

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Horoub, Mamon, Mahir Hassan e Muhammad Hawwa. "A Floating Cable-Driven Robotic Manipulator in a Marine Environment". In Advances in Mechanism and Machine Science, 2893–906. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-20131-9_286.

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Yao, Rui, Hui Li e Xinyu Zhang. "A Modeling Method of the Cable Driven Parallel Manipulator for FAST". In Mechanisms and Machine Science, 423–36. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-31988-4_26.

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Atti di convegni sul tema "Cable manipulation"

Xu, Shaohang, Yian Wang, Wentao Zhang, Chin Pang Ho e Lijun Zhu. "Observer-based Distributed MPC for Collaborative Quadrotor-Quadruped Manipulation of a Cable-Towed Load". In 2024 IEEE International Conference on Robotics and Automation (ICRA), 4591–97. IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610348.

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Monguzzi, Andrea, Yiannis Karayiannidis, Paolo Rocco e Andrea Maria Zanchettin. "Force-based semantic representation and estimation of feature points for robotic cable manipulation with environmental contacts". In 2024 IEEE International Conference on Robotics and Automation (ICRA), 16139–45. IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610686.

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Zhou, Xiang, Xianzhi Wu, Hanqin Liu, Zhufeng Shao, Yuanzeng Song, Minjian Huang, Jinbo Qie e Huaizhi Cao. "Design and Analysis of 7-DOF Cable-Driven Manipulator". In 2024 9th International Conference on Automation, Control and Robotics Engineering (CACRE), 441–47. IEEE, 2024. http://dx.doi.org/10.1109/cacre62362.2024.10635053.

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Havlik, Stefan. "Cable Suspended Manipulation Robots". In 16th International Symposium on Automation and Robotics in Construction. International Association for Automation and Robotics in Construction (IAARC), 1999. http://dx.doi.org/10.22260/isarc1999/0041.

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Rezazadeh, Siavash, e Saeed Behzadipour. "Tensionability Conditions of a Multi-Body System Driven by Cables". In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-42433.

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Abstract (sommario):

Cable-driven mechanisms have been reported in the literature for the manipulation of a single rigid body. A cable-driven mechanism configured as a Completely Restrained Positioning Mechanism (CRPM) [6], requires a minimum of n+1 cables to maintain the tensionability of the manipulator (i.e. all cables can be made taut), where n is the dimension of the motion space (typically 3 in the planar and 6 in spatial manipulators). In this paper, the idea of cable-driven manipulators is extended to the manipulation of a multi-body system by cables. The first and most fundamental issue to be addressed is the required number of cables and the cable distribution over the links. This problem is thoroughly investigated in this paper. The major issue that differentiates between single rigid body and multi-body cable-driven systems is that in the multi-body systems, each link is subjected to not only the unilateral force of the cables, but also to the bilateral constraint forces and moments of the joints. This requires a new approach for the analysis of the tensionability. The proposed approach in this paper is based on the fundamental equilibrium equations. This will be shown to result that every subsystems of the cable-driven multi-body should satisfy the tensionability condition which also provides all the necessary conditions on the number of the cables attached to that sub-system. These necessary conditions will be then complied to provide the total sufficient number of the cables and their required distribution on the links.

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Jung, Jinwoo, Jinlong Piao, Eunpyo Choi, Jong-Oh Park e Chang-Sei Kim. "Investigation on the Vibration of High Speed Cable Robot Manipulation due to Tension Around Drum". In ASME 2019 28th Conference on Information Storage and Processing Systems. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/isps2019-7455.

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Abstract A cable-driven parallel robot (CDPR) consists of an end-effector, flexible lightweight cables, pulleys, winches, and a rigid base frame. As opposed to the rigid links of the traditional serial robots and parallel robots, the flexible lightweight cables allow the CDPR to easily achieve the high speed, heavy payload manipulation, and scalable workspace. Especially, the conventional high-speed pick and place operation can be realized due to the lightweight of its flexible cables. However, the flexibility of the lightweight cables can introduce a considerable vibration problem to the high speed cable robot system. One of main causes can be a cable tension difference between initial pre-tension and winding tension around a drum of the winch-motor actuator. To effectively investigate the effect of the tension around the drum on the high speed manipulation of the cable robot system, the spatial eight-cable high speed cable robot was reduced to the horizontal two cable system. The reduction of the number of the cable enables us to minimize the influences from the other factors such as the cable sagging and the geometric errors. A series of experiments was conducted using the combinations of the low and high initial pre-tensions and low and high tensions around the drum. The experimental results clearly show that the low tension around the drum can cause the vibration problem during the high speed pick and place operation. Also, it demonstrates that securing the drum tension similar to the initial pre-tension can effectively reduce the magnitude of the vibration.

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Masoud, Ziyad N. "Differential Cable Length Manipulation for Oscillation Control of Quay-Side Container Cranes". In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-85320.

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Abstract (sommario):

Traditionally, a crane is modeled as a simple pendulum with a lumped mass at the end of a hoisting cable. However, in the case of quay-side container cranes the actual hoisting mechanism consists typically of a set of four hoisting cables. Modern quay-side container cranes use independent front and rear hoisting cables. This degree of freedom can be utilized to control payload sway oscillations. In this work, a delayed feedback algorithm is used to produce a controlled differential change in the length of the front and rear hoisting cables of a typical quay-side container crane.

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Zhao, Qianwen, Guoqing Zhang, Hamidreza Jafarnejadsani e Long Wang. "A Modular Continuum Manipulator for Aerial Manipulation and Perching". In ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/detc2022-90595.

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Abstract Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance of continuum manipulators. To achieve this goal, we present the novel design of a compact, lightweight, and modular cable-driven continuum manipulator for aerial drones. We then derive a complete modeling framework for its kinematics, statics, and stiffness (compliance). The framework is essential for integrating the manipulator to aerial drones. Finally, we report preliminary experimental validations of the hardware prototype, providing insights on its manipulation feasibility. Future work includes the integration and test of the proposed continuum manipulator with aerial drones.

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Dong, Siyuan, Shaoxiong Wang, Yu She, Neha Sunil, Alberto Rodriguez e Edward Adelson. "Cable Manipulation with a Tactile-Reactive Gripper". In Robotics: Science and Systems 2020. Robotics: Science and Systems Foundation, 2020. http://dx.doi.org/10.15607/rss.2020.xvi.029.

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Lin, Siyu, Xin Jiang e Yunhui Liu. "Cable manipulation with partially occluded vision feedback". In 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2022. http://dx.doi.org/10.1109/robio55434.2022.10011815.

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Rapporti di organizzazioni sul tema "Cable manipulation"

Wang, S. L., e P. Santiago. On stiffening cables of a long reach manipulator. Office of Scientific and Technical Information (OSTI), febbraio 1996. http://dx.doi.org/10.2172/184254.

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Wang, S. L. Control of a long reach manipulator with suspension cables for waste storage tank remediation. Final report. Office of Scientific and Technical Information (OSTI), dicembre 1994. http://dx.doi.org/10.2172/179213.

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