A sliding mode control for a planar 4-cable direct driven robot

Xavier Aguas, Marco Herrera, Oscar Camacho, Paulo Leica

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

4 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas23-28
Número de páginas6
ISBN (versión digital)9781538676127
DOI
EstadoPublicada - 5 dic. 2018
Publicado de forma externa
Evento3rd International Conference on Information Systems and Computer Science, INCISCOS 2018 - Quito, Ecuador
Duración: 14 nov. 201816 nov. 2018

Serie de la publicación

NombreProceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
Volumen2018-December

Conferencia

Conferencia3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
País/TerritorioEcuador
CiudadQuito
Período14/11/1816/11/18

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