Abstract
In this paper we propose a dynamic sliding mode control strategy for a cable-driven parallel robot. The proposed control algorithm provides stability of the end-effector for improving the robot performance in terms of tracking a desired path. A non-linear control technique is proposed for a robust management of uncertainty and error conditions. Numerical simulations have been carried out by developing a specific code which includes a graphical user interface for a user-friendly real time visualization of end-effector position as well as modification of the system parameters. Results of simulation for a dynamic model with sliding mode control are discussed for different trajectories applied for this robot, in order to confirm the validity of accurate tracking of a desired path. The effectiveness of the proposed robust control scheme is demonstrated through different simulation results.
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Inel, F., Mansouri, Z., Ceccarelli, M., Carbone, G. (2018). Dynamic Modeling and Simulation of Sliding Mode Control for a Cable Driven Parallel Robot. In: Doroftei, I., Oprisan, C., Pisla, D., Lovasz, E. (eds) New Advances in Mechanism and Machine Science. Mechanisms and Machine Science, vol 57. Springer, Cham. https://doi.org/10.1007/978-3-319-79111-1_41
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DOI: https://doi.org/10.1007/978-3-319-79111-1_41
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