3D cable-based parallel robot simulation using PD control
In this paper, we present a simulator that has been developed using PD control to study 3D cable-based parallel robot with four cables. The proposed control technique is widely used for dealing with linear systems uncertainties, in this context; we investigated to use the Runge Kutta method of 4th o...
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| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
IOP Publishing
2020
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/28820/1/3D%20cable-based%20parallel%20robot%20simulation%20using%20PD%20control.pdf http://umpir.ump.edu.my/id/eprint/28820/ https://doi.org/10.1088/1757-899X/788/1/012069 |
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| Summary: | In this paper, we present a simulator that has been developed using PD control to study 3D cable-based parallel robot with four cables. The proposed control technique is widely used for dealing with linear systems uncertainties, in this context; we investigated to use the Runge Kutta method of 4th order for solving non-linear partial differential equations of our system. The main contribution of this work is firstly: modelling of differential equations of our system. Secondly, the PD control applied to the dynamic model for different trajectories in order to test the accurate tracking of the robot to a desired trajectory. The effectiveness of the proposed control strategy is improving the robot performance in terms of tracking a desired path. |
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