Study on the Application of Model-based Control Algorithm for a Suspended Cable-Driven Parallel Robot
This paper introduces a model-based control scheme for controlling the position of a suspended cable-driven parallel robot. The robot is designed to have a fixed frame base with four cables. The cables are attached to winches on one end, driven by stepper motors, and to a moving platform at the...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Universitas Indonesia
2023-06-01
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| Series: | International Journal of Technology |
| Subjects: | |
| Online Access: | https://ijtech.eng.ui.ac.id/article/view/6458 |
| Summary: | This paper introduces a model-based control
scheme for controlling the position of a suspended cable-driven parallel robot.
The robot is designed to have a fixed frame base with four cables. The cables
are attached to winches on one end, driven by stepper motors, and to a moving
platform at the other end. The control scheme consists of two systems: the
reference model and the implemented control. The implemented control hosts the
stepper motor to drive the winch based on the requirements derived from the
reference model. The reference model converts the desired Cartesian trajectory
into joint spaces, which are then translated into the number of required steps.
The number of steps will act as a set point for the stepper motor. Three
trajectories are generated to test the compliance of the controller with its
position. The error compensation scheme is introduced to increase the
positional accuracy of the previous controller, especially on the z-axis. This
algorithm uses the nature of discrete stepper motor movement to estimate the
actual cable length, which is then fed back to the control system as an error.
The control simulation results indicate a significant improvement in control
performance, i.e. reduced position error, was achieved. |
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| ISSN: | 2086-9614 2087-2100 |