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Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots

  • João Cavalcanti SantosEmail author
  • Ahmed Chemori
  • Marc Gouttefarde
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)

Abstract

A Model Predictive Control (MPC) strategy is proposed in this paper for large-dimension cable-driven parallel robots working at low speeds. The latter characteristic reduces the non-linearity of the system within the MPC prediction horizon. Therefore, linear MPC is applied and compared with two commonly used strategies: Sliding mode control and PID+ control. The simulations aim at comparing disturbance rejection performances and the results indicate a superior performance of the proposed controller. Indeed, MPC takes into account control limits (cable tension limits) directly in the control design which allows the controller to better exploit the robot capabilities. In addition, actuation redundancy is resolved as an integral part of the control strategy, instead of calculating the desired wrench and then applying a tension distribution method.

Keywords

Cable-driven parallel robots model predictive control disturbance rejection 

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Notes

Acknowledgements

The research leading to these results has received funding from the European Union’s H2020 Programme (H2020/2014-2020) under grant agreement No. 732513 (Hephaestus project).

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • João Cavalcanti Santos
    • 1
    Email author
  • Ahmed Chemori
    • 1
  • Marc Gouttefarde
    • 1
  1. 1.LIRMMUniversity of Montpellier, CNRSMontpellierFrance

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