文章基本信息

标题：A new control scheme of cable-driven parallel robot balancing between sliding mode and linear feedback
本地全文：下载
作者：Etienne Picard ; Elias Tahoumi ; Franck Plestan 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：9936-9943
DOI：10.1016/j.ifacol.2020.12.2708
语种：English
出版社：Elsevier
摘要：AbstractThis paper deals with the design of a robust control scheme for a suspended Cable-Driven Parallel Robot (CDPR), composed of eight cables and a moving-platform (MP), for a pick-and-place application of metal plates of various shapes, sizes and masses. The set composed of the MP and a metal plate can have a mass of up to 700 kg. In order to achieve good accuracy and repeatability of the MP pose despite the variability of the transported mass, a robust control scheme must be implemented on the robot. A recently developed controller balancing between sliding mode and linear algorithms (SML) is considered for the application. The performances of the SML controller are analyzed on a CDPR prototype located at IRT Jules Verne, Nantes, France, along a test trajectory for several payloads. The results obtained without any information on the platform or metal plate mass are compared to those of standard proportional-derivative (PD) based control schemes.
关键词：KeywordsCable-driven parallel robotRobust controlSliding modeExperimental results