TY - GEN
T1 - A sliding mode control for a planar 4-cable direct driven robot
AU - Aguas, Xavier
AU - Herrera, Marco
AU - Camacho, Oscar
AU - Leica, Paulo
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/5
Y1 - 2018/12/5
N2 - Cable Direct Driven Robots (CDDRs) are structurally similar to parallel robots but these are formed by replacing all the supporting rigid legs with cables, where the motion of the end-effector is controlled through cables which are pulled from actuators placed off-board the robot. CDDRs control is a challenge due to the physical characteristics of cables because these can only apply tensile forces and no compression. The aim of this paper is to present a Sliding Mode Control (SMC) for a Planar 4-Cable Direct Driven Robot, SMC is designed in order to obtain fast system response and the robustness against the model uncertainty. For the purpose of validating the proposed controller the trajectory tracking test and model uncertainty test were performed. Simulation was carried out for the proposed controller and the results were compared with a PD Controller in terms of Integral Square Error (ISE) index.
AB - Cable Direct Driven Robots (CDDRs) are structurally similar to parallel robots but these are formed by replacing all the supporting rigid legs with cables, where the motion of the end-effector is controlled through cables which are pulled from actuators placed off-board the robot. CDDRs control is a challenge due to the physical characteristics of cables because these can only apply tensile forces and no compression. The aim of this paper is to present a Sliding Mode Control (SMC) for a Planar 4-Cable Direct Driven Robot, SMC is designed in order to obtain fast system response and the robustness against the model uncertainty. For the purpose of validating the proposed controller the trajectory tracking test and model uncertainty test were performed. Simulation was carried out for the proposed controller and the results were compared with a PD Controller in terms of Integral Square Error (ISE) index.
KW - Cable Direct Driven Robots
KW - Parallel manipulator
KW - Robustness
KW - Sliding Mode Controller
KW - Tracking Trajectory
UR - https://www.scopus.com/pages/publications/85063222540
U2 - 10.1109/INCISCOS.2018.00011
DO - 10.1109/INCISCOS.2018.00011
M3 - Contribución a la conferencia
AN - SCOPUS:85063222540
T3 - Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
SP - 23
EP - 28
BT - Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
Y2 - 14 November 2018 through 16 November 2018
ER -