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Numerical and experimental investigation on the synthesis of extended Kalman filters for cable-driven parallel robots modeled through DAEs
dc.contributor.author | Bettega, Jason | |
dc.contributor.author | Boschetti, Giovanni | |
dc.contributor.author | Rodríguez Frade, Borja | |
dc.contributor.author | González Varela, Francisco Javier | |
dc.contributor.author | Piva, Giulio | |
dc.contributor.author | Richiedei, Dario | |
dc.contributor.author | Trevisani, Alberto | |
dc.date.accessioned | 2024-02-15T15:13:35Z | |
dc.date.available | 2024-02-15T15:13:35Z | |
dc.date.issued | 2023-10-09 | |
dc.identifier.citation | Bettega, J., Boschetti, G., Frade, B.R. et al. Numerical and experimental investigation on the synthesis of extended Kalman filters for cable-driven parallel robots modeled through DAEs. Multibody Syst Dyn 60, 161–190 (2024). https://doi.org/10.1007/s11044-023-09941-5 | es_ES |
dc.identifier.issn | 1573-272X | |
dc.identifier.uri | http://hdl.handle.net/2183/35627 | |
dc.description.abstract | [Abstract] Cable-driven parallel robots are parallel robots where light-weight cables replace rigid bodies to move an end-effector. Their peculiar design allows obtaining large workspaces, high dynamic handlings, ease of reconfigurability and, in general, low-cost architecture. Knowing the full state variables of a cable robot may be essential to implement advanced control and monitoring strategies and imposes the development of state observers. In this work a general approach to develop nonlinear state observers based on an extended Kalman filter (EKF) is proposed and validated both numerically and experimentally by referring to a cable-suspended parallel robot. The state observer is based on a system model obtained by converting a set of differential algebraic equations into ordinary differential equations through different formulations: the penalty formulation, the Udwadia–Kalaba formulation, and the Udwadia–Kalaba–Phohomsiri formulation, which have been chosen since they can handle the presence of redundant constraints as often happens in cable-driven parallel robots. In the numerical investigation, the EKF is validated simulating encoders heavily affected by quantization errors to demonstrate the filtering capabilities of EKF. In the experimental investigation, a very challenging validation is proposed: only two sensors measuring the rotations of two motors are used to estimate the actual position and velocity of the end-effector. This result cannot be achieved by sole forward kinematics and clearly proves the effectiveness of the proposed observer. | es_ES |
dc.description.sponsorship | Italia. Ministero dell'Università e della Ricerca; PRIN Co-MiR 2020CMEFPK | es_ES |
dc.description.sponsorship | Italia. Ministero dell'Università e della Ricerca; ECS_00000043 | es_ES |
dc.description.sponsorship | Open access funding provided by Università degli Studi di Padova. The author Giulio Piva acknowledges the financial support by the Italian Ministry of University and Research through the research grant “SISTEMA - Dipartimenti di Eccellenza”. This research work is part of the Co-MIR PRIN 2020 project (Prot.2020CMEFPK) funded by the Italian Ministry of University and Research (MUR). This study was carried out within the PNRR research activities of the consortium iNEST (Interconnected North-Est Innovation Ecosystem) funded by the European Union Next-GenerationEU (Piano Nazionale di Ripresa e Resilienza (PNRR) – Missione 4 Componente 2, Investimento 1.5 – D.D. 1058 23/06/2022, ECS_00000043). This manuscript reflects only the authors’ views and opinions, neither the European Union nor the European Commission can be considered responsible for them. | |
dc.language.iso | eng | es_ES |
dc.relation.uri | https://doi.org/10.1007/s11044-023-09941-5 | es_ES |
dc.rights | Attribution 4.0 International ( CC BY 4.0) | es_ES |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | * |
dc.subject | State estimation | es_ES |
dc.subject | Extended Kalman filter | es_ES |
dc.subject | Cable-driven parallel robots | es_ES |
dc.subject | Penalty formulation | es_ES |
dc.subject | Udwadia-Kalaba | es_ES |
dc.subject | Udwadia–Kalaba–Phohomsiri | es_ES |
dc.subject | Estimación de estados | es_ES |
dc.subject | Filtro de Kalman extendido | es_ES |
dc.subject | Robots paralelos actuados por cable | es_ES |
dc.subject | Formulación en penalizadores | es_ES |
dc.title | Numerical and experimental investigation on the synthesis of extended Kalman filters for cable-driven parallel robots modeled through DAEs | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.rights.access | info:eu-repo/semantics/openAccess | es_ES |
UDC.journalTitle | Multibody System Dynamics | es_ES |
UDC.volume | 60 | es_ES |
UDC.startPage | 161 | es_ES |
UDC.endPage | 190 | es_ES |
dc.identifier.doi | 10.1007/s11044-023-09941-5 |
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