Robust Adaptive Control of Fully Constrained Cable-Driven Serial Manipulator with Multi-Segment Cables Using Cable Tension Sensor Measurements

Lou, Ya’nan; Lin, Haoyu; Quan, Pengkun; Wei, Dongbo; Di, Shichun

doi:10.3390/s21051623

Cited by 5 publications

(3 citation statements)

References 28 publications

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“…In order to verify the stability of the closed-loop system, based on refs. [25–30], the following Lyapunov function is constructed where . Since is a positive definite matrix, .…”

Section: Control Law Design and Stability Analysismentioning

confidence: 99%

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Study on the design and control method of a wire-driven waist rehabilitation training parallel robot

et al. 2022

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With the increasing demand for rehabilitation and the lack of professional rehabilitation personnel, robot-assisted rehabilitation technology plays an increasingly important role in neurological rehabilitation. In order to recover the exercise ability of patients with waist injury, a new type of wire-driven waist rehabilitation training parallel robot (WWRTPR) is designed. According to the motion trajectory planning of waist rehabilitation training, two coordinate systems are established: moving coordinate system and static coordinate system. The inverse kinematics modeling analysis is carried out, and the dynamic model of the robot is established by using Newton–Euler method. An intelligent control method of force/position hybrid control based on radial basis function neural network is proposed. The stability of the closed-loop system is analyzed, and the results show that WWRTPR tends to be stable. The simulation analysis of rehabilitation training on WWRTPR is carried out, and the simulation results show that the proposed intelligent control method can effectively control the robot system, which provides a reference for the development of a flexible intelligent rehabilitation training robot.

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“…In order to verify the stability of the closed-loop system, based on refs. [25–30], the following Lyapunov function is constructed where . Since is a positive definite matrix, .…”

Section: Control Law Design and Stability Analysismentioning

confidence: 99%

“…In order to verify the stability of the closed-loop system, based on refs. [25][26][27][28][29][30], the following Lyapunov function is constructed…”

Section: Stability Analysismentioning

confidence: 99%

Study on the design and control method of a wire-driven waist rehabilitation training parallel robot

et al. 2022

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“…are important considerations in robotics [1]. Among them, cable-driven mechanisms have the advantage of having a high payload-to-weight ratio and large workspace [2,3,4]. Also, they have been actively studied in various fields especially because of its high dexterity being secured from low moving mass [2].…”

Section: Introductionmentioning

confidence: 99%

Inverse Dynamics of Cable-driven 2D Serial Linkage

Yu¹,

Jung²,

Ahn³

2022

Asian Society for Precision Engineering and Nanotechnology (ASPEN 2022)

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Multi-Degree-of-Freedom Manipulator Joint Trajectory Tracking Control Method Based on Decision Tree

Gao

Shi

2021

J. Phys.: Conf. Ser.

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For industrial-grade manipulators, the study of trajectory tracking control issues provides an important guarantee for accurate and safe work. Therefore, the trajectory control input driving torque can meet the requirements of the robot arm to accurately track a given target trajectory, and the process of building a decision tree is a process of dividing the feature space. For a given training data set, a set of if-then is summarized the rule of. Based on this, this paper launches the research of multi-degree-of-freedom manipulator joint trajectory tracking control method based on decision tree. Based on the established kinematics and dynamics model of the manipulator, this paper uses a proportional-integral-derivative (PID) sliding mode controller based on the sliding mode surface of the manipulator to perform the trajectory tracking control of the end of the manipulator, and the simulation results of the improved sliding mode control are compared with the simulation results of the improved sliding mode control. The simulation results of the PID controller and the traditional sliding mode controller are compared. This paper finally verifies the effectiveness of the proposed new sliding mode controller based on the expanded state observer through the experimental platform. The speed and chattering problems of the trajectory tracking at the end of the manipulator are better than those of the controller on the experimental platform. Finally, this paper adopts the sliding mode variable structure control strategy combining the double-power reaching law and the improved terminal sliding mode surface to study the trajectory tracking control of the planar two-degree-of-freedom manipulator.

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Robust Adaptive Control of Fully Constrained Cable-Driven Serial Manipulator with Multi-Segment Cables Using Cable Tension Sensor Measurements

Cited by 5 publications

References 28 publications

Study on the design and control method of a wire-driven waist rehabilitation training parallel robot

Study on the design and control method of a wire-driven waist rehabilitation training parallel robot

Inverse Dynamics of Cable-driven 2D Serial Linkage

Multi-Degree-of-Freedom Manipulator Joint Trajectory Tracking Control Method Based on Decision Tree

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