Adaptive control for cable driven parallel robots

CDPR(Cable Driven Parallel Robot) is flexible robot system that can be applied to various environment and energy effective system. Because the rigid actuators of the conventional robots are changed into cables. Cable can generate only tensile force and has nonlinear features, such as nonlinear stiff...

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Bibliographic Details
Published in2017 17th International Conference on Control, Automation and Systems (ICCAS) pp. 416 - 419
Main Authors Jonghyun Yoon, Sung Wook Hwang, Jeong-Hyeon Bak, Jong Hyeon Park
Format Conference Proceeding
LanguageEnglish
Published Institute of Control, Robotics and Systems - ICROS 01.10.2017
Subjects
Adaptation models
Adaptive control
Cable Driven Parallel Robot(CDPR)
cable stiffness
Parallel robots
Power cables
Trajectory
vibration suppression
Vibrations
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Summary:CDPR(Cable Driven Parallel Robot) is flexible robot system that can be applied to various environment and energy effective system. Because the rigid actuators of the conventional robots are changed into cables. Cable can generate only tensile force and has nonlinear features, such as nonlinear stiffness, hysteresis, creep, and so on, so it occurs unexpected vibration. In this paper adaptive controller is used to track the desired trajectory and estimated coefficient of cable model. This methods show that tracking error is reduced even though estimated parameter value has 40% error rate. The algorithm is implied to 2-D planar CDPR simulator and confirm performance of it.
DOI:10.23919/ICCAS.2017.8204474