Sliding-mode control of cable-driven parallel robots with elastic cables
- Authors
- Bak, J.-H.; Yoon, J.H.; Hwang, S.W.; Park, J.H.
- Issue Date
- 2016
- Publisher
- IEEE Computer Society
- Keywords
- Backstepping; Cable-Driven Parallel Robot; Elastic Cable; Sliding Mode Control
- Citation
- International Conference on Control, Automation and Systems, pp.1057 - 1060
- Indexed
- SCOPUS
- Journal Title
- International Conference on Control, Automation and Systems
- Start Page
- 1057
- End Page
- 1060
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/24733
- DOI
- 10.1109/ICCAS.2016.7832440
- ISSN
- 1598-7833
- 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.
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