Dynamic modeling and robust passivity-based control of a cable-suspended robot [PDF Not Yet Available In IEEE Xplore]

Zarebidoki, Mahmoud; Lotfavar, Amir; Fahham, Hamid Reza

doi:10.1109/icciautom.2011.6356785

Cited by 3 publications

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“…Conventional robots with serial or parallel structures are impractical for these applications since the workspace requirements are higher than what the conventional robots can provide. For these reasons, cables-driven robots have received attention and have been recently studied [1]. The cable parallel robot are a special class of parallel mechanisms, whose trusts consist of cables whose lengths are adjustable to control the end-effector's position and orientation [2], this last is a fully parallel mechanism in closed chains with n degrees of freedom for the end effector; this last is connected to fixed platform by m cables; and each cable connects an output point attached to the fixed based of the robot to the mobile platform.…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Control Compared to PID Control Applied for a 4 Cables Parallel Robot

Inel¹

2018

IJCA

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This paper present a study the performance of sliding mode controller (SM) against PID controller, this last SM control algorithm is based to provide the stability of the endeffecter and a PIDC is classical proportional integrated derivative controller. The aim contribution of this work is in the firstly IntroductionIn recent years, robots have made tremendous inroads into industries for manufacturing and assembly. However, for long reach robotics such as inspection and repair in shipyards and airplane hangars, application of robotics is still in its infancy. Conventional robots with serial or parallel structures are impractical for these applications since the workspace requirements are higher than what the conventional robots can provide. For these reasons, cables-driven robots have received attention and have been recently studied [1]. The cable parallel robot are a special class of parallel mechanisms, whose trusts consist of cables whose lengths are adjustable to control the end-effector's position and orientation [2], this last is a fully parallel mechanism in closed chains with n degrees of freedom for the end effector; this last is connected to fixed platform by m cables; and each cable connects an output point attached to the fixed based of the robot to the mobile platform.These robots have few moving parts, with reduced mass, and are most suitable for tasks required high performance such as speed and accuracy and provide a large workspace [3]. By moving the cables connections points, it also has a work space much more grace to rolling cables, which allow the effector to be very far from its base, and reduce the distance near zero with very high acceleration, and the main advantage of the cable are; a larger workspace for the same overall dimension of the robot; light weight cables resulting in very safe an transportable system [4]. The best-known is control of cameras in stadiums (Skycam), this application is moved a fixed camera on a moving platform, another field of interest in biomedical application is the monitoring of the movement. An example may be mentioned CaTraSys (Cassino Tracking System) was used for identifying kinematic parameters and the mobility of man. Also, rehabilitation applications transport [5], the main disadvantages of parallel manipulators lie in the nature Vol. 11, No. 1 (2018) 2 Copyright © 2018 SERSC Australia of the cables suffer from unidirectional constraints that can only be pulled and not pushed. In this variant of robots, the cables must be with the tension in the whole workspace [6]. This paper is organized as follow: the structure of the our parallel robot with 4 cables. Next, we present the demonstration of geometric and dynamic models and we present a graphical user interface for the point to point command, finally, presents the controls modeling and some simulation results for different tests. Structure of 4 Cables Parallel RobotIn Figures 1 shows the general structure of our robot which consist mainly of a fixed base, a moving platform that holds the ...

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Section: Introductionmentioning

confidence: 99%

Sliding Mode Control Compared to PID Control Applied for a 4 Cables Parallel Robot

Inel¹

2018

IJCA

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“…Zarebidoki used the adaptive control approach for controlling a cable-suspended robot by considering the uncertainty in the exact value of mass and inertia of the end-effector. 5 Although the employed adaptive controller is efficient enough to overcome system parameter uncertainties, it is not a robust controller to compensate for the unstructured and modeling uncertainties. Many authors employed the sliding mode control (SMC) known as robust method against parametric and model uncertainties and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Compensating the flexibility uncertainties of a cable suspended robot using SMC approach

2014

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SUMMARYA sliding mode controller is designed to compensate for the flexibility uncertainties of a cable robot and improve its tracking performance. Of the most significant sources of these uncertainties are the elasticity of the cables and the flexibility of the joints. A favorable approach to improve the accuracy of the system is first to model the cable and joint flexibilities and then convert the model uncertainties into parametric uncertainties. Parametric uncertainties are the product of imprecise flexibility coefficients and are finally neutralized by a sliding mode controller. The flexibility in cables is modeled by considering the longitudinal vibration of the time-varying length cables. A simulation study is carried out to confirm the presented model and the positive effect of the designed controller. Then the impact of these uncertainties on the dynamic load carrying capacity (DLCC) of the robot is examined and compared for different cases. Finally, experimental tests are conducted on the IUST (Iran University of Science and Technology) cable-suspended robot to validate the presented theories and simulation results.

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Optimal Design of a Reconfigurable End-Effector for Cable-Suspended Parallel Robots

Barbazza

Zanotto

Rosati

et al. 2016

Mechanisms and Machine Science

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Dynamic modeling and robust passivity-based control of a cable-suspended robot [PDF Not Yet Available In IEEE Xplore]

Cited by 3 publications

References 0 publications

Sliding Mode Control Compared to PID Control Applied for a 4 Cables Parallel Robot

Sliding Mode Control Compared to PID Control Applied for a 4 Cables Parallel Robot

Compensating the flexibility uncertainties of a cable suspended robot using SMC approach

Optimal Design of a Reconfigurable End-Effector for Cable-Suspended Parallel Robots

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