On the control of planar cable-driven parallel robot via classic controllers and tuning with intelligent algorithms

Bayani, Hassan; Sadeghian, Rasoul; Masouleh, Mehdi Tale; Kalhor, Ahmad

doi:10.1109/icrom.2015.7367855

Cited by 3 publications

(3 citation statements)

References 19 publications

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“…The control inputs are mostly obtained by a combination of feed-forward inputs, calculated from a reference trajectory using a reference model of CDPR, and feedback control law, as in [15], [16]. The used control scheme shown in Fig.…”

Section: Feed-forward Model-based Controllermentioning

confidence: 99%

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Elasto-dynamic Model-Based Control of Non-redundant Cable-Driven Parallel Robots

Baklouti

Caro

Courteille

2018

ROMANSY 22 – Robot Design, Dynamics and Control

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This paper deals with a model-based feed-forward torque control strategy of non-redundant cable-driven parallel robots (CDPRs). The proposed feed-forward controller is derived from an inverse elastodynamic model of the CDPR to compensate for the dynamic and oscillatory effects due to cable elasticity. A PID feedback controller ensures stability and disturbance rejection. Simulations confirm that tracking errors can be reduced by the proposed strategy compared to conventional rigid body model-based control.

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Section: Feed-forward Model-based Controllermentioning

confidence: 99%

“…• Elasto-dynamic model based: K p =0.33, K i =0. 16 and K d =0. 15 It is noteworthy that the gains decrease from the rigid model to the elasto-dynmic reference model.…”

Section: Controller Tuningmentioning

confidence: 99%

Elasto-dynamic Model-Based Control of Non-redundant Cable-Driven Parallel Robots

Baklouti

Caro

Courteille

2018

ROMANSY 22 – Robot Design, Dynamics and Control

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show abstract

“…However, many parts of manufacturing and engineering does not put upon robots, mainly due to the weakness of conventional robots [1] [2]. For instance, in many applications workspace requirements and load carrying capacity are so much higher than what the conventional robots can provide while cost of the robot should be considered [3] [4]. Toward resolving the latter issue, new class of parallel robots were introduced [5].…”

Section: Introductionmentioning

confidence: 99%

On The Design of The Robust Neuro-Adaptive Controller for Cable-driven Parallel Robots

et al. 2016

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Original scientific paperIn this study, a robust neuro-adaptive controller for cable-driven parallel robots is proposed. The robust neuroadaptive control system is comprised of a computation controller and a robust controller. The computation controller containing a neural-network-estimator with radial basis function activator is the principal controller and the robust controller is designed to achieve tracking performance. An on-line tuning method is derived to tune the parameters of the neural network for estimating the controlled system dynamic function. To investigate the effectiveness of the robust adaptive control, the design methodology is applied to control a cable-driven parallel robot. Simulation results demonstrate that the proposed robust adaptive control system can achieve favorable tracking performances for the robot.Key words: Robust control, Adaptive law, neural network, Cable-driven Parallel Robot Dizajn robusnog neuro-adaptivnog regulatora za žično pogonjene paralelne robote. U ovome redu predstavljen je neuro-adaptivni regulator za žično pogonjene paralelne robote. Robusni neuro-adaptivni regulator sastoji se od regulatora zasnovanog na estimiranom modelu i robusnog regulatora. Prvi regulator sadrži estimator s neuronskom mrežom s radijalnom aktivacijskom funkcijom glavni je regulator u sustavu, a robusni je regulator dizajniran za slijedenje. Izvedena je on-line metoda podešavanja parametara neuronske mreže za estimaciju dinamike sustava upravljanja. Efikasnost sustava adaptivnog, robusnog regulatora testirana je na na žično pogonjenom paralelnom robotu. Simulacijski rezultati pokazuju da se predloženim robusnim i adaptivnim regulatorom mogu dobiti zadovoljavajuće performanse prilikom slijedenja.Ključne riječi: robusno upravljanje, adaptivni upravljački zakon, neuronska mreža, žično pogonjeni paralelni robot INTRODUCTIONIn the recent decades, robots have been utilized in vast area of industries. However, many parts of manufacturing and engineering does not put upon robots, mainly due to the weakness of conventional robots [1] [2]. For instance, in many applications workspace requirements and load carrying capacity are so much higher than what the conventional robots can provide while cost of the robot should be considered [3] [4]. Toward resolving the latter issue, new class of parallel robots were introduced [5]. Cable-Driven Parallel Robots (CDPR) are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the End-Effector (EE) but not push it. Figure 1 represents schematically a CDPR in a general arrangement. It consists of motor, winch system and the EE. From a scientific stand point, feedback control of CDPR is lot more challenging than their counterpart parallel-actuated robots due to the cables behavior. Several efforts had been exerted on modeling and control

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Evolutionary Tuning of PID Controllers for a Spatial Cable-Driven Parallel Robot

Nguyen-Van

Thuy

Thanh

et al. 2020

Advances in Engineering Research and Application

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On the control of planar cable-driven parallel robot via classic controllers and tuning with intelligent algorithms

Cited by 3 publications

References 19 publications

Elasto-dynamic Model-Based Control of Non-redundant Cable-Driven Parallel Robots

Elasto-dynamic Model-Based Control of Non-redundant Cable-Driven Parallel Robots

On The Design of The Robust Neuro-Adaptive Controller for Cable-driven Parallel Robots

Evolutionary Tuning of PID Controllers for a Spatial Cable-Driven Parallel Robot

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