Abstract
The design of robot systems controlled by cables can be relatively difficult when it is approached from the mathematical model of the mechanism, considering that its approach involves non-linearities associated with different components, such as cables and pulleys. In this work, a simple and practical decoupled control structure proposal that requires practically no mathematical analysis was developed for the position control of a planar cable-driven parallel robot (CDPR). This structure was implemented using non-linear fuzzy PID and classic PID controllers, allowing performance comparisons to be established. For the development of this research, first the structure of the control system was proposed, based on an analysis of the cables involved in the movement of the end-effector (EE) of the robot when they act independently for each axis. Then a tuning of rules was carried out for fuzzy PID controllers, and Ziegler–Nichols tuning was applied to classic PID controllers. Finally, simulations were performed in MATLAB with the Simulink and Simscape tools. The results obtained allowed us to observe the effectiveness of the proposed structure, with noticeably better performance obtained from the fuzzy PID controllers.
Highlights
In recent years, research in the field of robotics has focused on the study of cabledriven parallel robots (CDPR), with the control stage being very important, and involving a significant choice in the structure of the robot
It was determined that the decoupled control structure proproposed in this document, which considers the movements in the axes of the robot posed in independent, this document, which considers movementswith in theboth axesclassic of theand robot plane as plane as was effective whenthe implemented fuzzy independent, was effective when implemented with both classic and fuzzy controlcontrollers
PID controllers controllers with controllers linear characteristics characteristics correctly control the the Thethat results show thatstructure with linear characteristics correctly control non-linear mechanism under a decoupled for each axis of the end-effector
Summary
Research in the field of robotics has focused on the study of cabledriven parallel robots (CDPR), with the control stage being very important, and involving a significant choice in the structure of the robot. In [2], a coordinated dynamic control in the task space (CDCT) was proposed for a CDPR to guarantee high-precision control. In [7], the application of a CDPR as a 3D printer was proposed, using a retractable end-effector to avoid the collision of the cables with the printed objects and to increase the working space, with a stiffness analysis of the disturbance present in the end-effector
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