Using Pose-Dependent Model Predictive Control for Path Tracking with Bounded Tensions in a 3-DOF Spatial Cable Suspended Parallel Robot

Using Pose-Dependent Model Predictive Control for Path Tracking with Bounded Tensions in a 3-DOF Spatial Cable Suspended Parallel Robot

This paper proposes the preliminary results on a novel control architecture based on model predictive control (MPC) for cable-driven parallel robots (CDPRs) and applies them to a three degrees of freedom (3-DOF) robot with a suspended configuration, leading to a cable-suspended parallel robot (CSPR)...

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Bibliographic Details
Main Authors: Jason Bettega, Dario Richiedei, Alberto Trevisani
Format: Article
Language:English
Published: MDPI AG 2022-06-01
Series:Machines
Subjects:
control of multibody systems
cable-driven parallel robots
cable suspended parallel robots
model predictive control
embedded integrator
path tracking
Online Access:https://www.mdpi.com/2075-1702/10/6/453

Internet

https://www.mdpi.com/2075-1702/10/6/453

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