Abstract
AbstractIn this paper, the efficiency of a non-model-based robust-adaptive controller for the trajectory tracking of a cable-driven manipulator with elastic cables is studied. Therefore, the manipulator’s dynamics, considering the effect of fluid forces, are presented at first. Using a linear spring model for the cables, the effect of elasticity on system dynamics is then defined. Later, two controllers consisting of inverse dynamics and robust-adaptive are implemented into the system. The robust-adaptive controller’s performance is compared to the ID controller, which shows its effectiveness in dealing with the effect of cable elasticity on the trajectory tracking of the robot. Moreover, this controller compensates for the effect of robot and fluid uncertainties.KeywordsCable-driven robotsDrag forceBuoyancy forceAdded massInverse dynamics controlRobust control
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