Dynamic Modeling and Hardware-In-The-Loop Simulation for the Cable-Driven Parallel Robot IPAnema
Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany
Proceedings: ISR/ROBOTIK 2010
Pages: 8Language: englishTyp: PDF
Personal VDE Members are entitled to a 10% discount on this title
Authors:
Miermeister, Philipp; Pott, Andreas; Verl, Alexander (Fraunhofer IPA, Nobelstrasse 12, 70569 Stuttgart, Germany)
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.