Robust PID control of fully-constrained cable driven parallel robots |
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| Affiliation: | 1. School of Electro-Mechanical Engineering, Xidian University, Xi''an, Shaanxi 710071, China;2. Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA;1. Human and Robot Interaction Laboratory, Faculty of New Sciences and Technologies, University of Tehran, Iran;2. Department of Mechanical Engineering, K. N. Toosi University of Technology, Iran;3. School of Electrical and Computer Engineering, Human and Robot Interaction Laboratory, University of Tehran, Iran;4. Control and Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, University of Tehran, Iran;1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;2. State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China;3. Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and Control, Tsinghua University, Beijing 100084, China |
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| Abstract: | In this paper dynamic analysis and robust PID control of fully-constrained cable driven parallel manipulators are studied in detail. Since in this class of manipulators cables should remain in tension for all maneuvers in their workspace, feedback control of such robots becomes more challenging than that of conventional parallel robots. In this paper, structured and unstructured uncertainties in dynamics of the robot are considered and a robust PID controller is proposed for the cable robot. To ensure that all cables remain in tension internal force concept is used in the proposed PID control algorithm. Then, robust stability of the closed-loop system with proposed control algorithm is analyzed through Lyapunov direct method and it is shown that by suitable selection of the PID controller gains, the closed-loop system would be robustly stable. Finally, the effectiveness of the proposed PID algorithm is examined through experiments on a planar cable driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice. |
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| Keywords: | Cable driven parallel robot Dynamical uncertainties Robust PID control |
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