Sliding-mode control of cable-driven parallel robots with elastic cables

Bak, J.-H.; Yoon, J.H.; Hwang, S.W.; Park, J.H.

doi:10.1109/ICCAS.2016.7832440

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Sliding-mode control of cable-driven parallel robots with elastic cables

Bak, J.-H.;
Yoon, J.H.;
Hwang, S.W.;
Park, J.H.

Citations

SCOPUS

8

초록

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.

키워드

Backstepping; Cable-Driven Parallel Robot; Elastic Cable; Sliding Mode Control; Backstepping; Cables; Controllers; Integrated control; Robots; Stiffness; Back-stepping approaches; Elastic cable; Integrated system models; Linear stiffness; Nonlinear characteristics; Over-constrained; Parallel robots; Sliding mode controller; Sliding mode control

제목: Sliding-mode control of cable-driven parallel robots with elastic cables

저자: Bak, J.-H.; Yoon, J.H.; Hwang, S.W.; Park, J.H.

DOI: 10.1109/ICCAS.2016.7832440

발행일: 2016-00

유형: Conference Paper

저널명: International Conference on Control, Automation and Systems

페이지: 1057 ~ 1060