Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 박종현 | - |
dc.date.accessioned | 2019-01-17T05:50:03Z | - |
dc.date.available | 2019-01-17T05:50:03Z | - |
dc.date.issued | 2016-10 | - |
dc.identifier.citation | 2016 16th International Conference on Control, Automation and Systems (ICCAS), Page. 1057-1060 | en_US |
dc.identifier.isbn | 978-89-93215-11-3 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/7832440?arnumber=7832440&SID=EBSCO:edseee | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/81347 | - |
dc.description.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. | en_US |
dc.description.sponsorship | This research was supported by Leading Foreign Research Institute Recruitment Program through the National Research Foundation of Korea(NRF) funded by the Ministry of Education, Science and Technology(MEST) (2012K1A4A3026740). | en_US |
dc.language.iso | en | en_US |
dc.publisher | ICROS | en_US |
dc.subject | Cable-Driven Parallel Robot | en_US |
dc.subject | Sliding Mode Control | en_US |
dc.subject | Elastic Cable | en_US |
dc.subject | Backstepping | en_US |
dc.title | Sliding-Mode Control of Cable-Driven Parallel Robots with Elastic Cables | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1109/ICCAS.2016.7832440 | - |
dc.relation.page | 1057-1060 | - |
dc.contributor.googleauthor | Bak, Jeong-Hyeon | - |
dc.contributor.googleauthor | Yoon, Jong Hyun | - |
dc.contributor.googleauthor | Hwang, Sung Wook | - |
dc.contributor.googleauthor | Park, Jong Hyeon | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF MECHANICAL ENGINEERING | - |
dc.identifier.pid | jongpark | - |
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