Hybrid force-motion control implementation on a dexterous cable-driven robotic arm

• Main Author: Xu, Lingchao
• Other Authors: Tao Pey Yuen
• Format: Final Year Project
• Language: English
• Published: 2015
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/62720
• Institution: Nanyang Technological University

Dexterous cable-driven robotic arm (DCDRA) is superior over rigid-link robotic arms with their lightweight, flexibility and relatively large payload capability. The primary objective of this project is to achieve motion control under hybrid position/force configuration of an existing cable-driven manipulator prototype. The secondary objective is to adopt active compliance in control of the robotic arm. The control algorithm was designed using nested feedback loops and PID controller with fixed gain or time-varying gain. The control programs were constructed under LabVIEW environment. The implementation achieved motion control under hybrid configuration and partial compliance. Testing and data analysis show that repeatability of the arm is satisfying but accuracy needs to be further improved. The main obstacles are cable friction, precision of the force model and sophistication of force control algorithm.