Dynamic Modeling and Adaptive Control of a Cable-suspended Robot

M. Zarebidoki, A. Lotfavar, H. R. Fahham

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationProceedings of the World Congress on Engineering 2011, WCE 2011
EditorsS. I. Ao, Len Gelman, David W. L. Hukins, Andrew Hunter, A. M. Korsunsky
PublisherNewswood Limited
Pages2469-2473
Number of pages5
Volume3
ISBN (Print)9789881925152
Publication statusPublished - 6 Jul 2011
Externally publishedYes
EventWorld Congress on Engineering 2011 - London, United Kingdom
Duration: 6 Jul 20118 Jul 2011

Publication series

NameLecture Notes on Engineering and Computer Science: Proceedings of The World Congress on Engineering 2011, WCE 2011
PublisherNewswood Limited
Volume2192
ISSN (Print)2078-0958
ISSN (Electronic)2078-0966

Conference

ConferenceWorld Congress on Engineering 2011
Abbreviated titleWCE 2011
CountryUnited Kingdom
CityLondon
Period6/07/118/07/11

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