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Robust trajectory tracking control of cable-driven parallel robots

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Abstract

In this paper, a robust tracking controller is designed for fully constrained cable-driven parallel robots (CDPRs). One of the main challenges of controller design for this type of robotic systems is that the cables should always be in tension, where this tension is generally generated through an actuator mechanism coupled with gearboxes. On the other hand, the presence of parametric and nonparametric modeling uncertainties is a common problem in designing a precise nonlinear tracking controller for these manipulators. To deal with these problems, in this paper two separate controllers are designed for the subsystems of the robot. First, an adaptive robust feedback controller with an adaptive feedforward term is designed for the dynamics of the CDPR, constituting the outer-loop dynamics. This controller is robust with respect to the modeling uncertainties of the system. Furthermore, the output of this controller is bounded, which guarantees a saturated desired input for the inner-loop dynamics. Next, a high-gain robust controller is developed for the inner-loop dynamics, which include the actuator–gearbox model. The stability of the overall system is analyzed through a theory of cascaded systems, and it is shown that the system is uniformly practically asymptotically stable. Finally, the effectiveness of the proposed control scheme is validated through simulations on a 4-cable planar robot in both nominal and perturbed conditions.

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Acknowledgements

This work was supported by the National Research Foundation Korea (NRF) (2014R1A2A1A11053989) and Dual Use Technology Program of Civil and Military.

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Authors and Affiliations

  1. Control System Laboratory, Department of Advanced Science and Technology, Toyota Technological Institute, Nagoya, Japan

    Hamed Jabbari Asl

  2. Department of Intelligent Mechatronics Engineering, Sejong University, Seoul, South Korea

    Hamed Jabbari Asl

  3. School of Mechanical and Aerospace Engineering & ReCAPT, Gyeongsang National University, Jinju, South Korea

    Jungwon Yoon

  4. School of Integrated Technology, Gwangju Institute of Science and Technology, Gwangju, 61005, Korea

    Jungwon Yoon

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  1. Hamed Jabbari Asl
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Correspondence to Jungwon Yoon.

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Jabbari Asl, H., Yoon, J. Robust trajectory tracking control of cable-driven parallel robots. Nonlinear Dyn 89, 2769–2784 (2017). https://doi.org/10.1007/s11071-017-3624-9

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  • DOI: https://doi.org/10.1007/s11071-017-3624-9

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