Alireza Alikhani

Modeling and robust control of a new large scale suspended cable-driven robot under input constraint

In this paper, modeling and control of a new large scale suspended cable-driven robot is presented. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motions. At first, kinematic and dynamic models for the proposed suspended cable-driven architecture are derived. Moreover, robust sliding mode control is utilized in order to set-point control for the proposed suspended cable-driven robot at the presence of unknown but bounded disturbances. The asymptotic stability and robustness of the proposed control law is proved using second method of Lyapunov. Since cables can only pull the end-effector, the feedback control of suspended cable-driven robots is more challenging. Thus, the admissible set points for the system are searched under sliding mode control input and disturbances. Finally, the effectiveness of the proposed robust control scheme is demonstrated through simulations.

Modeling, Control and Simulation of a New Large Scale Cable-Driven Robot

In this paper, modeling and control of a new cable-driven robot is presented. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motion. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this article kinematics and dynamics models for the proposed cable-driven architecture are derived. Additionally, Feedback linearization under input constraints is used for the control of the robot. The control algorithm ensures the cable tensions are positive while minimizing the sum of all the torques exerted by the actuators. Finally, the implementation of the proposed method is demonstrated through simulation.Copyright