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Research on workspace visual-based continuous switching sliding mode control for cable-driven parallel robots

Published online by Cambridge University Press:  25 September 2023

Sen Qian Open the ORCID record for Sen Qian [Opens in a new window] ,
Zeyao Zhao ,
Pengfei Qian ,
Zhengyu Wang Open the ORCID record for Zhengyu Wang [Opens in a new window]  and
Bin Zi Open the ORCID record for Bin Zi [Opens in a new window]
Sen Qian
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, China
Zeyao Zhao
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, China
Pengfei Qian
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, China
Zhengyu Wang*
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, China
Bin Zi
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, China
*
Corresponding author: Zhengyu Wang; Email: wangzhengyu_hfut@hfut.edu.cn
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Abstract

Achieving the high-precision control of cable-driven parallel robots (CDPRs) is complex because of their structural properties. In this paper, a quintessential redundant CDPR is designed as the research subject, and a continuous switching sliding mode controller based on workspace vision is implemented to enhance the accuracy and stability of trajectory tracking. In addition, a virtual prototype of the CDPR with uncertainties is created in the simulation analysis software ADAMS, and co-simulation is performed with the control system designed in Simulink to validate the effectiveness of the proposed control strategy. Furthermore, a CDPR platform is established for trajectory tracking experiments using the visual-based position feedback method. The trajectory tracking performance with the three control schemes is then evaluated. The experimental results show that the continuous switching sliding mode control algorithm can significantly decrease trajectory tracking errors and exhibit superior trajectory tracking performance compared to the other control strategies.

Keywords

Cable-driven parallel robottrajectory trackingmotion controlsliding mode controlSimulink-ADAMS co-simulation

Information

Type
Research Article
Information
Robotica , Volume 42 , Issue 1 , January 2024 , pp. 1 - 20
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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