Abstract
This work is dedicated to the application of a semi-implicit homogeneous differentiator to estimate the angular velocity and the angular acceleration of each of the eight electric motors of the CRAFT cable-driven parallel robot from the recording of the angular position of their respective output shaft. These motors drive the winding or unwinding of eight cables to move the robot moving-platform. The results show that this differentiator, whose the definition is respectively based on two projectors, is an extremely efficient tool for estimating the angular velocities and accelerations of the eight motors. These estimated velocities and accelerations are much less noisy than their reference signals obtained by backward difference. Moreover, the estimated quantities obtained with this differentiator are successfully compared to those obtained by a non-linear observer based on the interpolation and numerical difference of the measured position variable. Those promising results will definitely contribute to a better control of the CRAFT robot.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
