3D cable-based parallel robot simulation using PD control

• Main Authors: Inel, F., M. M., Noor
• Format: Conference or Workshop Item
• Language: English
• Published: IOP Publishing 2020
• Subjects: TJ Mechanical engineering and machinery
• 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

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.