Abstract
Cable-based robots as well as their control are relatively new fields of research. The objective of this work is to design, simulate and compare two robot control techniques which are dedicated to be implemented for cable-based robots. The first controller is a classical proportional derivative one (PDC) while the second controller is the sliding mode one (SMC).The proposed controllers are inserted into a closed loop around the cable-based robot for ensuring point to point transfer operations and trajectory tracking. Simulations have been carried out confirming the effectiveness of the PDC and SMC for controlling planar cable-based robots. Performances concerning settling time, precision, vibration and system stability are analyzed and compared. Some simulation results are presented showing, for each control techniques during trajectory tracking, the instantaneous profile evolution of cable lengths and cable tensions.
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.
