Force Tracking Using Actuated Winches With Position-Controlled Motors for Use in Hydrodynamical Model Testing

Force Tracking Using Actuated Winches With Position-Controlled Motors for Use in Hydrodynamical Model Testing

In this paper, we consider the problem of accurate force control using actuated winches, intended for use in real-time hybrid hydrodynamic model testing. The paper is also relevant to other cable-driven parallel robot applications that use force control in an inner control loop. For this problem, co...

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Bibliographic Details
Main Authors: Einar Ueland, Thomas Sauder, Roger Skjetne
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Actuated winches
cable-driven parallel robots
force tracking
force control
hydrodynamic model testing
real-time hybrid model testing
Online Access:https://ieeexplore.ieee.org/document/9440403/

Internet

https://ieeexplore.ieee.org/document/9440403/

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