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Sliding-Mode Control of Cable-Driven Parallel Robots with Elastic Cables

Title
Sliding-Mode Control of Cable-Driven Parallel Robots with Elastic Cables
Author
박종현
Keywords
Cable-Driven Parallel Robot; Sliding Mode Control; Elastic Cable; Backstepping
Issue Date
2016-10
Publisher
ICROS
Citation
2016 16th International Conference on Control, Automation and Systems (ICCAS), Page. 1057-1060
Abstract
Cable-driven parallel robot (CDPR) is one of robots hard to dealing with because of their nonlinear characteristics based on the elasticity of cables. This paper suggests a design of sliding-mode controller as a solution to control the over-constrained planar CDPR with consideration of cable stiffness and motor dynamics. The system model has 4 elastic cables with linear stiffness force and motor dynamics is considered to make more precise system model. Then the integrated system model has a special model structure called triangular. A backstepping approach was used to apply sliding-mode control for the integrated system model. Simulation was carried out to verify the performance of the suggested control and the result was analyzed. The suggested controller made end-effector follow various trajectories without tuning.
URI
https://ieeexplore.ieee.org/document/7832440?arnumber=7832440&SID=EBSCO:edseeehttp://repository.hanyang.ac.kr/handle/20.500.11754/81347
ISBN
978-89-93215-11-3
DOI
10.1109/ICCAS.2016.7832440
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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