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:edseeehttps://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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