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This paper addresses vibration control in Cable-Driven Parallel Robots (CDPRs) by reformulating end-effector (EE) vibrations into a state-space model and applying a MIMO Linear Quadratic (LQ) controller to damp EE vibrations. Piezoelectric sensors measure cable tension variations to reconstruct modal states, while piezoelectric actuators embedded on the cables provide actuation. To further enhance performance, sensor and actuator placement is optimized using observability and controllability gramians. Simulations on a 8-cables, 6-DOFs overconstrained CDPR validate the proposed approach and demonstrate its efficiency in vibration suppression.

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Active Damping of Cable-Driven Parallel Robots Using LQ Command and Measurement of Cable Tension Variations

  • 会议论文

  • 发表日期：

    2025年

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  • Thibault Garcia,
  • Didier Rémond,
  • Simon Chesné

摘要

This paper addresses vibration control in Cable-Driven Parallel Robots (CDPRs) by reformulating end-effector (EE) vibrations into a state-space model and applying a MIMO Linear Quadratic (LQ) controller to damp EE vibrations. Piezoelectric sensors measure cable tension variations to reconstruct modal states, while piezoelectric actuators embedded on the cables provide actuation. To further enhance performance, sensor and actuator placement is optimized using observability and controllability gramians. Simulations on a 8-cables, 6-DOFs overconstrained CDPR validate the proposed approach and demonstrate its efficiency in vibration suppression.