4.7 Article Proceedings Paper

Position-Tracking Control of Dual-Rope Winch Robot With Rope Slip Compensation

Journal

IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 26, Issue 4, Pages 1754-1762

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2021.3075999

Keywords

Robots; Winches; Pulleys; Buildings; Trajectory; Steel; Gears; Climbing robot; feedforward control; position-tracking control; rope slip model; rope winch

Funding

  1. National Research Foundation of Korea - Ministry of Science and ICT [NRF-2018M3C1B9088328, 2018M3C1B9088331, 2018M3C1B9088332]
  2. Forest Science and Technology Projects by Korea Forest Service [2021300D10-2121-AD02]
  3. Korea Forestry Promotion Institute (KOFPI) [2021300D10-2121-AD02] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)

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This article introduces a novel dual-rope winch robot designed for building maintenance work on wall planes, featuring a dual-rope winch system and a thrust module. It proposes a feedforward control to predict and compensate for rope slip length and a proportional-integral controller for position error regulation. Experiments on a test bench show trajectory deviation within 0.5% of the target trajectory.
This article presents the design and position-tracking control of a novel two-degree-of-freedom dual-rope winch robot. It is designed to be facilely installed at both corners of a building using two synthetic ropes and to move freely on the wall plane using the ropes to perform building maintenance work. This robot consists of a dual-rope winch system responsible for its movement on a plane and a thrust module that allows the robot to remain close to the wall through the force of the propeller. In the dual-rope winch system, ascending modules driven by two pulleys and connected by differential gears are arranged symmetrically; the position and posture on the plane can be determined by controlling the ropes. The robot winds a synthetic rope around the pulley to support the load with frictional force. Precise position control is difficult to implement because of the elasticity of the rope and the slip around the pulley. Therefore, in this article, a feedforward control to predict and compensate for the slip length of the rope and a proportional-integral controller to regulate the position error owing to the dynamic characteristics of the rope are proposed. Experiments to verify the performance of the controller for various trajectories were performed on the test bench. It was confirmed that the actual trajectory deviation is within 0.5% of the target trajectory.

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