Modeling and control of a cable-suspended robot for inspection of vertical structures

13th International Conference on Motion and Vibration Control; 12th International Conference on Recent Advances in Structural Dynamics

Barry, Nicole^1 ; Fisher, Erin^1 ; Vaughan, Joshua^1

Department of Mechanical Engineering, University of Louisiana at Lafayette, Lafayette

LA

70504, United States^1

关键词: Cable suspended robot;    Chemical storage tanks;    High rise building;    Input shapers;    Large workspace;    Modeling and control;    Performance improvements;    Vertical structures;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/744/1/012071/pdf
DOI  :  10.1088/1742-6596/744/1/012071

来源: IOP

【 摘 要 】

In this paper, a cable-driven system is examined for the application of inspection of large, vertical-walled structures such as chemical storage tanks, large ship hulls, and high-rise buildings. Such cable-driven systems are not commonly used for these tasks due to vibration, which decreases inspection accuracy and degrades safety. The flexible nature of the cables make them difficult to control. In this paper, input shaping is implemented on a cable-driven system to reduce vibration. To design the input shapers, a model of the cable-driven system was developed. Analysis of the dominant dynamics and changes in them over the large workspace are also presented. The performance improvements provided by the input shaping controller are quantified through a series of simulations.