A positive tensions PID controller for a planar cable robot: An experimental study

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these c...

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Bibliographic Details
Published in2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) pp. 325 - 330
Main Authors Khosravi, M. A., Taghirad, H. D., Oftadeh, R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.02.2013
Subjects
Assembly
Force
Logic gates
PD control
Servomotors
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ISBN1467358096
9781467358095
DOI10.1109/ICRoM.2013.6510127

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Summary:In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.
ISBN:1467358096
9781467358095
DOI:10.1109/ICRoM.2013.6510127