@inproceedings{10ed822120904ca1aaf6da6415e1cd92,
title = "Dynamic Modeling and Adaptive Control of a Cable-suspended Robot",
abstract = "The level adjustment of cable-driven parallel mechanism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of uncertainties exist in the adjustment process. This paper presents application of an adaptive control scheme for a cable suspended robot to handle uncertainties in mass and moments of inertia of end effecter. In section II dynamic equations of motion are derived and the constraints are utilized to obtain the complete required equations. In section III inverse dynamic controller and adaptive controller are presented. Simulations results presented in section IV show the effectiveness of the adaptive controller when there is noenough knowledge about system parameters.",
keywords = "Adaptive control, Cable-suspended robots, Inverse dynamic control, Positive tension",
author = "M. Zarebidoki and A. Lotfavar and Fahham, {H. R.}",
note = "Copyright: Copyright 2011 Elsevier B.V., All rights reserved.; World Congress on Engineering 2011, WCE 2011 ; Conference date: 06-07-2011 Through 08-07-2011",
year = "2011",
month = jul,
day = "6",
language = "English",
isbn = "9789881925152",
volume = "3",
series = "Lecture Notes on Engineering and Computer Science: Proceedings of The World Congress on Engineering 2011, WCE 2011",
publisher = "Newswood Limited",
pages = "2469--2473",
editor = "Ao, {S. I.} and Len Gelman and Hukins, {David W. L.} and Andrew Hunter and Korsunsky, {A. M.}",
booktitle = "Proceedings of the World Congress on Engineering 2011, WCE 2011",
address = "Hong Kong",
}