Dynamic Control with Tension Compensation of a 3-DOF Cable-driven Parallel Manipulator

被引：0

作者：

Zhang, Bingyuan ^{[1
]}

Shang, Weiwei ^{[1
]}

Cong, Shuang ^{[1
]}

机构：

[1] Univ Sci & Technol China, Dept Automat, Hefei 230027, Anhui, Peoples R China

来源：

2017 IEEE INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) AND IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS (RAM) | 2017年

关键词：

Cable Driven; Parallel manipulator; Tension Compensation; Dynamic Control; The Vector Mean Theorem; MOTION CONTROL; ROBOTS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Considering the unidirectional force characteristic of the cable, the dynamic model of winch unit is established under different conditions for a 3-DOF cable-driven parallel manipulator. Two controllers with tension compensation are proposed on the basis of the dynamic modek the dynamic control with tension feedforward compensation and the dynamic control with tension feedback compensation. The asymptotic stability of the closed-loop system under the two control laws is proved by the mean-value theorem for vectorial functions and the Lyapunov method. The trajectory tracking control experiments are implemented on an actual 3-DOF cable-driven parallel manipulator platform, and the experimental results indicate that the proposed two control methods can achieve high control accuracy.

引用

页码：508 / 513

页数：6

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