Cable Driven Parallel Robot Simulation

Packages related to simulation and control of cable-driven parallel robots.

Install

The robot geometry is defined in a YAML file (see sdf folder), then generates a SDF file through the call to

gen_cdpr.py <file>.yaml

The same robot can be simulated by calling

roslaunch cdpr.launch model:=<robot model>

where robot model corresponds to the YAML and SDF files.

A very basic PID controller can be tested using

rosrun cdpr pid_control

The controller does not take into account the positive-only tensions and is just here to show the use of the CDPR class that interfaces with Gazebo.

An example is given through cdpr/sdf/caroca.yaml. The sim_cables field leads to two behaviors:

if True then Gazebo wil simulate the cables as rigid bodies and subscribe for cable tensions
if False then Gazebo will simulate a free-floating platform and subscribe for cdpr::Tensions which are the tensions + unit vector of all cables.

The improvement with using CTC control algorithm and trajectory generator
The control algorithm is CTC which integrates the quadratic programming optimization method in order to get the feasible tension in cables.

The trajectory parameter is defined by trajectory.yaml in sdf folder.
The SDF file is loaded by the launch file directly when using roslaunch command to launch one controller.
The 5 orders polynomial is implemented to generate one trajectory with updating time 0.01. It is set the same initial pose with initialization of cdpr, and the desired position is [2,2,1].

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