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Experimental validation of two semi-implicit homogeneous discretized differentiators on the CRAFT cable-driven parallel robot

Abstract : This work is dedicated to the application of two differentiating homogeneous semi-implicit to estimate the angular velocity of each of the eight electric motors of the CRAFT cable-driven parallel robot from the recording of the angular position of their respective output shaft. These motors drive the winding or unwinding of eight cables to move the robot moving-platform. The results show that these differentiators, whose definitions are respectively based on one and two projectors, are extremely efficient tools for estimating the angular velocities of the eight motors. These estimated velocities are much less noisy than their reference signals obtained by backward difference. Those promising results will definitely contribute to a better control of the CRAFT robot.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-03751623
Contributor : Yannick Aoustin Connect in order to contact the contributor
Submitted on : Tuesday, August 16, 2022 - 9:33:14 AM
Last modification on : Thursday, October 13, 2022 - 11:52:07 AM
Long-term archiving on: : Thursday, November 17, 2022 - 6:04:45 PM

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  • HAL Id : hal-03751623, version 1

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Loic Michel, Marceau Métillon, Stéphane Caro, Malek Ghanes, Franck Plestan, et al.. Experimental validation of two semi-implicit homogeneous discretized differentiators on the CRAFT cable-driven parallel robot. CFM2022, Congrès Français de Mécanique, Aug 2022, Nantes, France. ⟨hal-03751623⟩

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