Abstract
Cable Direct Driven Robots (CDDRs) are a special class of parallel robots but they are formed by replacing all the supporting rigid links with cables. Compare with traditional robots, these robots are good candidates for performing a wide range of potential applications. A Planar CDDR model is considered in this paper since no rotational move and no moment resistance are required on the end-effector, all 4 cables convene in a single point and the end-effector is modeled as a point mass. The main goal of this paper is to present a new approach in control by developing a Sliding Mode Controller (SMC) with a Fuzzy-PI as sliding surface using Fuzzy logic toolbox in Matlab/Simulink. The tests performed were Step change reference test and Tracking trajectory test to observe the behavior of the cables during the trajectory and the end-effector movement. Simulation was carried out on Planar 4-Cable CDDR to prove the effectiveness of the proposed control law and the results were compared with a PI Controller and a conventional SMC in terms of integral square error (ISE) index. Only the kinematic model of Planar 4-Cable CDDR is considered in this paper.
Highlights
Robots have made formidable progress into industries for manufacturing and assembly
Planar 4-Cable Cable-direct-driven robots (CDDRs) mode (Gallina, Rossi, & Williams II, 2001) is considered in this paper since no rotational move and no moment resistance are required on the endeffector, all 4 cables convene in a single point and the end-effector is modelled as a point mass
The controllers were implemented in Matlab/Simulink 2017a using the kinematic model of Planar 4-Cable CDDR
Summary
Robots have made formidable progress into industries for manufacturing and assembly. Traditional robots with serial or parallel structures are unsuitable since the workspace requirements are higher as in (Oh & Agrawal, 2003) are presented. One disadvantage is cables can only exert tension and cannot push on the end-effector This property makes feedback control of CDDRs more defiant than conventional parallel robot as in (Babaghasabha, Khosravi, & Taghirad, 2014) is designed an adaptive controller in task space coordinates for a planar cable-driven parallel robot with uncertainties in dynamic and kinematic parameter or as in (Khosravi & Taghirad, 2014) a robust PID controller is presented for the cable-driven robot to ensure that all cables remain in tension. A Sliding Mode Control with a Fuzzy PI as sliding surface for the kinematic model of Planar 4-Cable CDDR is proposed. The performance of this controller is compared with a PI Controller and a conventional SMC in terms of integral square error (ISE) index. The simulation results show the ability the proposed controller in comparison with the conventional controllers for trajectory tracking and step change reference
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