{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,30]],"date-time":"2026-05-30T00:46:20Z","timestamp":1780101980411,"version":"3.54.0"},"reference-count":33,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2019,6,1]],"date-time":"2019-06-01T00:00:00Z","timestamp":1559347200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Research Foundation of Korea (NRF)","award":["2012K1A4A3026740"],"award-info":[{"award-number":["2012K1A4A3026740"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In a cable-driven parallel robot (CDPR), force sensors are utilized at each winch motor to measure the cable tension in order to obtain the force distribution at the robot end-effector. However, because of the effects of friction in the pulleys and the unmodeled cable properties of the robot, the measured cable tensions are often inaccurate, which causes force-control difficulties. To overcome this issue, this paper presents an artificial neural network (ANN)-based indirect end-effector force-estimation method, and its application to CDPR force control. The pulley friction and other unmodeled effects are considered as black-box uncertainties, and the tension at the end-effector is estimated by compensating for these uncertainties using an ANN that is developed using the training datasets from CDPR experiments. The estimated cable tensions at the end-effector are used to design a P-controller to track the desired force. The performance of the proposed ANN model is verified through comparisons with the forces measured directly at the end-effector. Furthermore, cable force control is implemented based on the compensated tensions to evaluate the performance of the CDPR in wrench space. The experimental results show that the proposed friction-compensation method is suitable for application in CDPRs to control the cable force.<\/jats:p>","DOI":"10.3390\/s19112520","type":"journal-article","created":{"date-parts":[[2019,6,3]],"date-time":"2019-06-03T02:08:40Z","timestamp":1559527720000},"page":"2520","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":35,"title":["Indirect Force Control of a Cable-Driven Parallel Robot: Tension Estimation using Artificial Neural Network trained by Force Sensor Measurements"],"prefix":"10.3390","volume":"19","author":[{"given":"Jinlong","family":"Piao","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea"},{"name":"Medical Microrobot Center, Robot Research Initiative, Chonnam National University, Cheomdangwagi-ro, Buk-gu, Gwangju 61011, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Eui-Sun","family":"Kim","sequence":"additional","affiliation":[{"name":"Medical Microrobot Center, Robot Research Initiative, Chonnam National University, Cheomdangwagi-ro, Buk-gu, Gwangju 61011, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hongseok","family":"Choi","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea"},{"name":"Medical Microrobot Center, Robot Research Initiative, Chonnam National University, Cheomdangwagi-ro, Buk-gu, Gwangju 61011, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chang-Bae","family":"Moon","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Eunpyo","family":"Choi","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea"},{"name":"Medical Microrobot Center, Robot Research Initiative, Chonnam National University, Cheomdangwagi-ro, Buk-gu, Gwangju 61011, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jong-Oh","family":"Park","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea"},{"name":"Medical Microrobot Center, Robot Research Initiative, Chonnam National University, Cheomdangwagi-ro, Buk-gu, Gwangju 61011, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4532-2006","authenticated-orcid":false,"given":"Chang-Sei","family":"Kim","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea"},{"name":"Medical Microrobot Center, Robot Research Initiative, Chonnam National University, Cheomdangwagi-ro, Buk-gu, Gwangju 61011, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2019,6,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"716097","DOI":"10.1155\/2014\/716097","article-title":"Optimal Orientation Planning and Control Deviation Estimation on FAST Cable-Driven Parallel Robot","volume":"6","author":"Li","year":"2014","journal-title":"Adv. Mech. Eng."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Qian, S., Bao, K., Zi, B., and Wang, N. (2018). Kinematic Calibration of a Cable-Driven Parallel Robot for 3D Printing. Sensors, 18.","DOI":"10.3390\/s18092898"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"729020","DOI":"10.1155\/2014\/729020","article-title":"Optimal Cable Tension Distribution of the High-Speed Redundant Driven Camera Robots Considering Cable Sag and Inertia Effects","volume":"6","author":"Su","year":"2014","journal-title":"Adv. Mech. Eng."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1109\/TRO.2018.2871395","article-title":"Generalized Ray-Based Lattice Generation and Graph Representation of Wrench-Closure Workspace for Arbitrary Cable-Driven Robots","volume":"35","author":"Abbasnejad","year":"2019","journal-title":"IEEE Trans. Robot."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"33928","DOI":"10.1109\/ACCESS.2018.2841988","article-title":"Configuration Optimization and a Tension Distribution Algorithm for Cable-Driven Parallel Robots","volume":"6","author":"Song","year":"2018","journal-title":"IEEE Access"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1444","DOI":"10.1109\/TRO.2015.2495005","article-title":"A Versatile Tension Distribution Algorithm for n-DOF Parallel Robots Driven by n+2 Cables","volume":"31","author":"Gouttefarde","year":"2015","journal-title":"IEEE Trans. Robot."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Pott, A., Bruckmann, T., and Mikelsons, L. (2009). Closed-form Force Distribution for Parallel Wire Robots. Computational Kinematics, Springer.","DOI":"10.1007\/978-3-642-01947-0_4"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Kraus, W., Schmidt, V., Rajendra, P., and Pott, A. (June, January 31). System identification and cable force control for a cable-driven parallel robot with industrial servo drives. Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China.","DOI":"10.1109\/ICRA.2014.6907731"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"1106","DOI":"10.1007\/s12555-014-0538-x","article-title":"Hybrid position\/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot","volume":"14","author":"Jun","year":"2016","journal-title":"Int. J. Control Autom. Syst."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Xiong, H., and Diao, X. (2017, January 5\u20138). Cable tension control of cable-driven parallel manipulators with position-controlling actuators. Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau, China.","DOI":"10.1109\/ROBIO.2017.8324673"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Kraus, W., Kessler, M., and Pott, A. (2015, January 26\u201330). Pulley friction compensation for winch-integrated cable force measurement and verification on a cable-driven parallel robot. Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA.","DOI":"10.1109\/ICRA.2015.7139406"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Choi, S.-H., Park, J.-O., and Park, K.-S. (2017). Tension analysis of a 6-degree-of-freedom cable-driven parallel robot considering dynamic pulley bearing friction. Adv. Mech. Eng., 9.","DOI":"10.1177\/1687814017714981"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"1785","DOI":"10.1007\/s10483-017-2284-8","article-title":"Efficient modeling of cable-pulley system with friction based on arbitrary-Lagrangian-Eulerian approach","volume":"38","author":"Peng","year":"2017","journal-title":"Appl. Math. Mech."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Miyasaka, M., Matheson, J., Lewis, A., and Hannaford, B. (October, January 28). Measurement of the cable-pulley Coulomb and viscous friction for a cable-driven surgical robotic system. Proceedings of the 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany.","DOI":"10.1109\/IROS.2015.7353464"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Yu, L., Wang, Z., Wang, W., Li, H., and Wang, L. (2015). Research on micromanipulator\u2019s clamping force sensing based on static wirerope tension of a surgical robot. Adv. Mech. Eng., 7.","DOI":"10.1177\/1687814015581246"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"259","DOI":"10.1007\/s12541-011-0035-6","article-title":"Friction analysis according to pretension of laparoscopy surgical robot instrument","volume":"12","author":"Lee","year":"2011","journal-title":"Int. J. Precis. Eng. Manuf."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"440","DOI":"10.1016\/j.mechmachtheory.2018.12.032","article-title":"An estimation method of grasping force for laparoscope surgical robot based on the model of a cable-pulley system","volume":"134","author":"Xue","year":"2019","journal-title":"Mech. Mach. Theory"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Ismaila, T., Akmeliawati, R., and Salami, M.J.E. (2011). Artificial Intelligent Based Friction Modelling and Compensation in Motion Control System. Adv. Mech., 43\u201368.","DOI":"10.5772\/23432"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"15613","DOI":"10.3390\/s131115613","article-title":"Assessment and certification of neonatal incubator sensors through an inferential neural network","volume":"13","year":"2013","journal-title":"Sensors"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"952","DOI":"10.1007\/s12555-015-0070-7","article-title":"Stability analysis of reference compensation technique for controlling robot manipulators by neural network","volume":"15","author":"Jung","year":"2017","journal-title":"Int. J. Control Autom. Syst."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1989","DOI":"10.1007\/s12555-017-0641-x","article-title":"Neural-networks-based Adaptive Control for an Uncertain Nonlinear System with Asymptotic Stability","volume":"16","author":"Shin","year":"2018","journal-title":"Int. J. Control Autom. Syst."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"27","DOI":"10.1007\/s12555-016-0721-3","article-title":"Adaptive Control based on Extended Neural Network for SISO Uncertain Nonlinear Systems","volume":"16","author":"Chen","year":"2018","journal-title":"Int. J. Control Autom. Syst."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"3342","DOI":"10.1109\/TIE.2011.2160509","article-title":"Intelligent Friction Modeling and Compensation Using Neural Network Approximations","volume":"59","author":"Huang","year":"2012","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_24","unstructured":"Guo, K., Pan, Y., and Yu, H. (2018). Composite Learning Robot Control with Friction Compensation: A Neural Network-Based Approach. IEEE Trans. Ind. Electron."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"1730","DOI":"10.1109\/TII.2018.2876724","article-title":"End-Effector Force Estimation for Flexible-Joint Robots with Global Friction Approximation Using Neural Networks","volume":"15","author":"Liu","year":"2019","journal-title":"IEEE Trans. Ind. Inf."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Lin, C.-H. (2018). Precision Motion Control of a Linear Permanent Magnet Synchronous Machine Based on Linear Optical-Ruler Sensor and Hall Sensor. Sensors, 18.","DOI":"10.3390\/s18103345"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"141","DOI":"10.1002\/ls.1238","article-title":"Artificial neural network approach to predict the lubricated friction coefficient","volume":"26","year":"2014","journal-title":"Lubr. Sci."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"2318","DOI":"10.1177\/0954406218783017","article-title":"High-accuracy robust adaptive motion control of a torque-controlled motor servo system with friction compensation based on neural network","volume":"233","author":"Hu","year":"2019","journal-title":"Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci."},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Jin, X., Jung, J., Ko, S., Choi, E., Park, J.-O., and Kim, C.-S. (2018). Geometric Parameter Calibration for a Cable-Driven Parallel Robot Based on a Single One-Dimensional Laser Distance Sensor Measurement and Experimental Modeling. Sensors, 18.","DOI":"10.3390\/s18072392"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"2829","DOI":"10.1007\/s12206-018-0539-4","article-title":"Solving the pulley inclusion problem for a cable-driven parallel robotic system: Extended kinematics and twin-pulley mechanism","volume":"32","author":"Jin","year":"2018","journal-title":"J. Mech. Sci. Technol."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"543","DOI":"10.1139\/tcsme-2011-0033","article-title":"Dynamic analysis and control of cable driven robots with elastic cables","volume":"35","author":"Khosravi","year":"2011","journal-title":"Trans. Can. Soc. Mech. Eng."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"1407","DOI":"10.1007\/s11071-016-2999-3","article-title":"A survey and comparison of several friction force models for dynamic analysis of multibody mechanical systems","volume":"86","author":"Marques","year":"2016","journal-title":"Nonlinear Dyn."},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Pott, A. (2014). An Improved Force Distribution Algorithm for Over-Constrained Cable-Driven Parallel Robots. Computational Kinematics, Springer.","DOI":"10.1007\/978-94-007-7214-4_16"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/11\/2520\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:55:33Z","timestamp":1760187333000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/11\/2520"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,6,1]]},"references-count":33,"journal-issue":{"issue":"11","published-online":{"date-parts":[[2019,6]]}},"alternative-id":["s19112520"],"URL":"https:\/\/doi.org\/10.3390\/s19112520","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,6,1]]}}}