Adaptive control for cable driven parallel robots

• Published in: 2017 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
• Language: English
• 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

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...