Sliding-mode control of cable-driven parallel robots with elastic cables
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Bak, J.-H. | - |
dc.contributor.author | Yoon, J.H. | - |
dc.contributor.author | Hwang, S.W. | - |
dc.contributor.author | Park, J.H. | - |
dc.date.accessioned | 2021-08-02T17:51:31Z | - |
dc.date.available | 2021-08-02T17:51:31Z | - |
dc.date.created | 2021-05-13 | - |
dc.date.issued | 2016 | - |
dc.identifier.issn | 1598-7833 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/24733 | - |
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. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE Computer Society | - |
dc.title | Sliding-mode control of cable-driven parallel robots with elastic cables | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, J.H. | - |
dc.identifier.doi | 10.1109/ICCAS.2016.7832440 | - |
dc.identifier.scopusid | 2-s2.0-85014009416 | - |
dc.identifier.bibliographicCitation | International Conference on Control, Automation and Systems, pp.1057 - 1060 | - |
dc.relation.isPartOf | International Conference on Control, Automation and Systems | - |
dc.citation.title | International Conference on Control, Automation and Systems | - |
dc.citation.startPage | 1057 | - |
dc.citation.endPage | 1060 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Backstepping | - |
dc.subject.keywordPlus | Cables | - |
dc.subject.keywordPlus | Controllers | - |
dc.subject.keywordPlus | Integrated control | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Stiffness | - |
dc.subject.keywordPlus | Back-stepping approaches | - |
dc.subject.keywordPlus | Elastic cable | - |
dc.subject.keywordPlus | Integrated system models | - |
dc.subject.keywordPlus | Linear stiffness | - |
dc.subject.keywordPlus | Nonlinear characteristics | - |
dc.subject.keywordPlus | Over-constrained | - |
dc.subject.keywordPlus | Parallel robots | - |
dc.subject.keywordPlus | Sliding mode controller | - |
dc.subject.keywordPlus | Sliding mode control | - |
dc.subject.keywordAuthor | Backstepping | - |
dc.subject.keywordAuthor | Cable-Driven Parallel Robot | - |
dc.subject.keywordAuthor | Elastic Cable | - |
dc.subject.keywordAuthor | Sliding Mode Control | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.