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Title
Japanese: 
English:Offline Reference Trajectory Shaping for a Cable-Driven Earthquake Simulator Based on a Viscoelastic Cable Model 
Author
Japanese: 菅原 雄介, 上木 泰修, 松浦 大輔, 武田 行生, Minoru Yoshida.  
English: Yusuke Sugahara, Taishu Ueki, Daisuke Matsuura, Yukio Takeda, Minoru Yoshida.  
Language English 
Journal/Book name
Japanese: 
English:IEEE Robotics and Automation Letters 
Volume, Number, Page Vol. 7    No. 2    pp. 2415-2422
Published date Apr. 2022 
Publisher
Japanese: 
English:IEEE 
Conference name
Japanese: 
English:2022 IEEE International Conference on Robotics and Automation 
Conference site
Japanese: 
English:Philadelphia 
DOI https://doi.org/10.1109/LRA.2022.3144778
Abstract In an earthquake simulator, which is a device for reproducing seismic waves, it is necessary to accurately reproduce the acceleration. In this study, the authors propose an offline reference trajectory shaping method for precise acceleration control based on the dynamic model of an earthquake simulator, composed of a planar three-degrees-of-freedom cable-driven parallel mechanism, considering the effect of the viscoelasticity of a synthetic fiber cable. First, Flory's model representing cable viscoelasticity was introduced into the dynamic model of the system constructed in the authors' previous study, and a precise dynamic system model including the cable was derived. Next, the viscoelastic behavior of the cable including instantaneous elasticity and tension relaxation was measured experimentally, and the cable model parameters were identified. Based on these, a control method to accurately generate the desired platform acceleration by offline reference trajectory shaping was developed. The effectiveness of the method was confirmed through simulations and experiments.

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