Linear, Nonlinear, Robust and Adaptive Control of a 3 DoF Cable Driven Parallel Robot

Course Project
Faculty of Mechanical Engineering
K.N. Toosi University of Technology (KNTU)
Tehran (Iran)
A. Nasr
S. Azadi

Dynamic analysis of cable robots is not the same as that of other parallel robots because cables can only pull an object but they cannot push. Therefore, the manipulator is able to perform a task only if the force in all cables are non-negative. Accordingly, the workspace of cable robots is defined as a region in space where the end-effector is able to exert the required wrench (force and moment vectors) to the surroundings while all cables are in tension (non-negative forces). Many research works have focused on workspace analysis and optimization of cable robots. Work-space and controllability of cable robots can be enhanced by adding cables to structure of the robot. Consequently, redundancy plays a key role in design of cable robots.

First, kinematics and dynamic of the robot modeled in order to use in the control loop. Then, different method of controlling loop especially linear, nonlinear, robust and adaptive used to control the robot in present of noise and disturbance force. Finally showed that the robust method was the best one in presence of disturbance and if the model of the robot was not accurate, adaptive method benefit from capability of controlling in this situation.