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Linear quadratic optimal controller for cable-driven parallel robots

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Abstract

In recent years, various cable-driven parallel robots have been investigated for their advantages, such as low structural weight, high acceleration, and large work-space, over serial and conventional parallel systems. However, the use of cables lowers the stiffness of these robots, which in turn may decrease motion accuracy. A linear quadratic (LQ) optimal controller can provide all the states of a system for the feedback, such as position and velocity. Thus, the application of such an optimal controller in cable-driven parallel robots can result in more efficient and accurate motion compared to the performance of classical controllers such as the proportional- integral-derivative controller. This paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven parallel robot (Feriba-3) is developed. The synthesis of the LQ optimal control is described, and the significant experimental results are presented and discussed.

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Authors and Affiliations

  1. Department of Management and Engineering, University of Padua, Udine, Italy

    Saeed Abdolshah

  2. Department of Electric, Managerial and Mechanical Engineering, University of Udine, Udine, Italy

    Erfan Shojaei Barjuei

Authors
  1. Saeed Abdolshah
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  2. Erfan Shojaei Barjuei
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Correspondence to Saeed Abdolshah.

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Abdolshah, S., Shojaei Barjuei, E. Linear quadratic optimal controller for cable-driven parallel robots. Front. Mech. Eng. 10, 344–351 (2015). https://doi.org/10.1007/s11465-015-0364-8

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  • DOI: https://doi.org/10.1007/s11465-015-0364-8

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