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Tension optimization of the 6-DOF cable-driven boat motion simulator

Authors:

Joonyoung Jang,

Thomas R. BewleyAuthors Info & Claims

RSAE '21: Proceedings of the 2021 3rd International Conference on Robotics Systems and Automation Engineering

Pages 57 - 64

https://doi.org/10.1145/3475851.3475854

Published: 15 October 2021 Publication History

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Abstract

The 6 degrees of freedom cable-driven boat motion simulator has eight cables and a moving platform in replicating the boat motion. The platform is connected to cables and is moved by adjusting the length of the cables. The simulator has more cables than its degrees of freedom is defined as an underdetermined system, which means the tension solution is not unique and can be optimized while controlling the platform to the desired position. Leveraging the equilibrium condition and the dynamic equation of tensegrity systems, linearized equations of motion of the moving platform were derived. A Linear Matrix Inequality (LMI)-based controller design and a convex optimization validated to stabilizing the system and optimizing cable tensions. A simulation model is suggested to verify optimized cable tension solutions and the feasibility of the LMI based controller.

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Cited By

Jang JBewley T(2023)Workspace Analysis for Parameter Optimization of a Cable-driven Boat Motion Simulator2023 5th International Conference on Control and Robotics (ICCR)10.1109/ICCR60000.2023.10444880(47-52)Online publication date: 23-Nov-2023
https://doi.org/10.1109/ICCR60000.2023.10444880
G AJ HR NKhakse PPatil VRao ADhivakar K(2022)An Abstract Model for Onshore Wind turbine Blade Maintenance2022 10th RSI International Conference on Robotics and Mechatronics (ICRoM)10.1109/ICRoM57054.2022.10025349(302-308)Online publication date: 15-Nov-2022
https://doi.org/10.1109/ICRoM57054.2022.10025349
Jang JZhao MBewley T(2022)A Control Lyapunov Function-Based Quadratic Program for the Cable-Driven Boat Motion Simulator2022 7th International Conference on Robotics and Automation Engineering (ICRAE)10.1109/ICRAE56463.2022.10056184(18-24)Online publication date: 18-Nov-2022
https://doi.org/10.1109/ICRAE56463.2022.10056184

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cover image ACM Other conferences

RSAE '21: Proceedings of the 2021 3rd International Conference on Robotics Systems and Automation Engineering

May 2021

76 pages

ISBN:9781450388467

DOI:10.1145/3475851

Copyright © 2021 Owner/Author.

This work is licensed under a Creative Commons Attribution International 4.0 License.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 15 October 2021

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RSAE 2021

RSAE 2021: 2021 the 3rd International Conference on Robotics Systems and Automation Engineering

May 28 - 30, 2021

Paris, France

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Cited By

Jang JBewley T(2023)Workspace Analysis for Parameter Optimization of a Cable-driven Boat Motion Simulator2023 5th International Conference on Control and Robotics (ICCR)10.1109/ICCR60000.2023.10444880(47-52)Online publication date: 23-Nov-2023
https://doi.org/10.1109/ICCR60000.2023.10444880
G AJ HR NKhakse PPatil VRao ADhivakar K(2022)An Abstract Model for Onshore Wind turbine Blade Maintenance2022 10th RSI International Conference on Robotics and Mechatronics (ICRoM)10.1109/ICRoM57054.2022.10025349(302-308)Online publication date: 15-Nov-2022
https://doi.org/10.1109/ICRoM57054.2022.10025349
Jang JZhao MBewley T(2022)A Control Lyapunov Function-Based Quadratic Program for the Cable-Driven Boat Motion Simulator2022 7th International Conference on Robotics and Automation Engineering (ICRAE)10.1109/ICRAE56463.2022.10056184(18-24)Online publication date: 18-Nov-2022
https://doi.org/10.1109/ICRAE56463.2022.10056184

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