Research on workspace visual-based continuous switching sliding mode control for cable-driven parallel robots

Achieving the high-precision control of cable-driven parallel robots (CDPRs) is complex because of their structural properties. In this paper, a quintessential redundant CDPR is designed as the research subject, and a continuous switching sliding mode controller based on workspace vision is implemen...

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Bibliographic Details
Published inRobotica Vol. 42; no. 1; pp. 1 - 20
Main Authors Qian, Sen, Zhao, Zeyao, Qian, Pengfei, Wang, Zhengyu, Zi, Bin
Format Journal Article
LanguageEnglish
Published Cambridge, UK Cambridge University Press 01.01.2024
Subjects
Accuracy
Additive manufacturing
Algorithms
Cables
Control algorithms
Control systems design
Control theory
Kinematics
Mathematical models
Methods
Motion control
Robot control
Robots
Simulation
Sliding mode control
Switching
Systems stability
Tracking errors
Virtual prototyping
Simulink-ADAMS co-simulation
motion control
sliding mode control
Cable-driven parallel robot
trajectory tracking
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Summary:Achieving the high-precision control of cable-driven parallel robots (CDPRs) is complex because of their structural properties. In this paper, a quintessential redundant CDPR is designed as the research subject, and a continuous switching sliding mode controller based on workspace vision is implemented to enhance the accuracy and stability of trajectory tracking. In addition, a virtual prototype of the CDPR with uncertainties is created in the simulation analysis software ADAMS, and co-simulation is performed with the control system designed in Simulink to validate the effectiveness of the proposed control strategy. Furthermore, a CDPR platform is established for trajectory tracking experiments using the visual-based position feedback method. The trajectory tracking performance with the three control schemes is then evaluated. The experimental results show that the continuous switching sliding mode control algorithm can significantly decrease trajectory tracking errors and exhibit superior trajectory tracking performance compared to the other control strategies.
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SourceType-Scholarly Journals-1
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ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574723001273