Adaptive sliding mode control of a novel cable driven robot model

Autor:	F. Inel, S. Babesse
Jazyk:	angličtina
Rok vydání:	2019
Předmět:	cable driven robot modeling sliding mode gui position control robustness Mechanical engineering and machinery TJ1-1570 Mechanics of engineering. Applied mechanics TA349-359
Zdroj:	Journal of Mechanical Engineering and Sciences, Vol 13, Iss 2, Pp 5150-5162 (2019)
Druh dokumentu:	article
ISSN:	2289-4659 2231-8380
DOI:	10.15282/jmes.13.2.2019.26.0423
Popis:	In this paper, we propose an adaptive sliding mode control strategy for a 3D cable-driven parallel robot. The proposed control technique is widely used for dealing with nonlinear systems uncertainties and for improving the robot performance in terms of tracking a desired path. The main contribution of this work is firstly: the graphical user interface (GUI) witch presents a point-to-point command, thus by the visualization of the end-effector position. Secondly, the sliding mode control is modeling for applied to the dynamic model for different trajectories in order to test the accurate tracking of the robot to a desired path. The effectiveness of the proposed control strategy is demonstrated through different simulation results.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/ae6cededaa064ccea29c01972e70a5d7 Zobrazit plný text záznamu View record in DOAJ