Yaroslav Kalinin
Publications:
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Marchuk E. A., Al Badr A., Kalinin Y. V., Maloletov A. V.
Cable-Driven Parallel Robot: Distribution of Tension Forces, the Problem of Game Theory
2023, Vol. 19, no. 4, pp. 613-631
Abstract
This paper highlights the role of game theory in specific control tasks of cable-driven parallel
robots. One of the challenges in the modeling of cable systems is the structural nonlinearity of
cables, rather long cables can only be pulled but not pushed. Therefore, the vector of forces
in configuration space must consist of only nonnegative components. Technically, the problem
of distribution of tension forces can be turned into the problem of nonnegative least squares.
Nevertheless, in the current work the game interpretation of the problem of distribution of
tension forces is given. According to the proposed approach, the cables become actors and two
examples of cooperative games are shown, linear production game and voting game. For the
linear production game the resources are the forces in configuration space and the product is
the wrench vector in the operational space of a robot. For the voting game the actors can form
coalitions to reach the most effective composition of the vector of forces in configuration space.
The problem of distribution of forces in the cable system of a robot is divided into two problems:
that of preloading and that of counteraction. The problem of preloading is set as a problem
of null-space of the Jacobian matrix. The problem of counteraction is set as a problem of
cooperative game. Then the sets of optimal solutions obtained are approximated with a fuzzy
control surface for the problem of preloading, and game solutions are ready to use as is for
the problem of counteraction. The methods have been applied to solve problems of large-sized
cable-driven parallel robot, and the results are shown in examples with numerical simulation.
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Marchuk E. A., Kalinin Y. V., Sidorova A. V., Maloletov A. V.
On the Problem of Position and Orientation Errors of a Large-Sized Cable-Driven Parallel Robot
2022, Vol. 18, no. 5, pp. 755-770
Abstract
This paper deals with the application of force sensors to estimate position errors of the center
of mass of the mobile platform of a cable-driven parallel robot. Conditions of deformations of
cables and towers of the robot are included in the numerical model and external disturbance is
included too. The method for estimating the error in positioning via force sensors is sensitive
to the magnitude of spatial oscillations of the mobile platform. To reduce torsional vibrations
of the mobile platform around the vertical axis, a dynamic damper has been included into the
system.
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