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

• Published in: Robotica Vol. 42; no. 1; pp. 1 - 20
• Main Authors: Qian, Sen, Zhao, Zeyao, Qian, Pengfei, Wang, Zhengyu, Zi, Bin
• Format: Journal Article
• Language: English
• 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

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...