Dynamic Modeling and Robust Adaptive Sliding Mode Controller for Marine Cable-Driven Parallel Derusting Robot

Dynamic Modeling and Robust Adaptive Sliding Mode Controller for Marine Cable-Driven Parallel Derusting Robot

Ship derusting has the characteristics of a complex operation environment, high labor intensity and low efficiency. In order to better cope with this situation, a new type of cable-driven parallel derusting robot (CDPDR) is proposed in this article. To improve the positioning accuracy and anti-inter...

Full description

Bibliographic Details
Main Authors: Yizong Chen, Jian Li, Shenghai Wang, Guangdong Han, Yuqing Sun, Weirong Luo
Format: Article
Language:English
Published: MDPI AG 2022-06-01
Series:Applied Sciences
Subjects:
cable-driven parallel robot
derusting robot
dynamic model
tension optimization
workspace
sliding mode control
Online Access:https://www.mdpi.com/2076-3417/12/12/6137

Internet

https://www.mdpi.com/2076-3417/12/12/6137

Similar Items