Abstract
Recently, a cable-driven parallel robots (CDPRs) has been applied to radio telescope as the accurate actuator, that is the five-hundred-meter aperture spherical telescope. It can be affected by the disturbances such as wind, earthquake and so on. Therefore, this paper developed a disturbance observer (DOB)-based control suitable for CDPR. The propose of the control is to reduce the effects of disturbance while the end-effectors maintains the same position even though the disturbance affects it. The key component of the DOB controller is a disturbance observer, which includes inverse nominal plant for each cable. So, a system identification test was carried out firstly. Then, the simulation and experiment were also carried out to evaluate the performance of the algorithm in CDPR. The results showed that the designed DOB algorithm could effectively reduce disturbances.
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Acknowledgements
This research was supported by Development of Space Core Technology Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT and Future Planning (2017M1A3A3A02016340) and from Human Resource Development of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) and the Ministry of Trade, Industry and Energy (MOTIE) of the Republic of Korea (20174030201530).
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Dinh, T.N., Park, J. & Park, KS. Design and evaluation of disturbance observer algorithm for cable-driven parallel robots. Microsyst Technol 26, 3377–3387 (2020). https://doi.org/10.1007/s00542-020-04883-w
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DOI: https://doi.org/10.1007/s00542-020-04883-w