Hostname: page-component-7b7567c8c-wxvwp Total loading time: 0 Render date: 2026-11-15T11:52:54.094Z Has data issue: false hasContentIssue false
  • English
  • Français

Compensating the flexibility uncertainties of a cable suspended robot using SMC approach

Published online by Cambridge University Press:  05 March 2014

M. H. Korayem,
M. Taherifar and
H. Tourajizadeh
M. H. Korayem*
Affiliation:
Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
M. Taherifar
Affiliation:
Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
H. Tourajizadeh
Affiliation:
Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
*
*Corresponding author. E-mail: hkorayem@iust.ac.ir
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

A sliding mode controller is designed to compensate for the flexibility uncertainties of a cable robot and improve its tracking performance. Of the most significant sources of these uncertainties are the elasticity of the cables and the flexibility of the joints. A favorable approach to improve the accuracy of the system is first to model the cable and joint flexibilities and then convert the model uncertainties into parametric uncertainties. Parametric uncertainties are the product of imprecise flexibility coefficients and are finally neutralized by a sliding mode controller. The flexibility in cables is modeled by considering the longitudinal vibration of the time-varying length cables. A simulation study is carried out to confirm the presented model and the positive effect of the designed controller. Then the impact of these uncertainties on the dynamic load carrying capacity (DLCC) of the robot is examined and compared for different cases. Finally, experimental tests are conducted on the IUST (Iran University of Science and Technology) cable-suspended robot to validate the presented theories and simulation results.

Keywords

Cable suspended robotSliding Mode Control (SMC)UncertaintyElastic cablesFlexible joints

Information

Type
Articles
Information
Robotica , Volume 33 , Issue 3 , March 2015, pp. 578 - 598
Copyright
Copyright © Cambridge University Press 2014 

References

1.Albus, J., Bostelman, R. and Dagalakis, N., “The NIST robocrane,” J. Robot. Syst. 10 (5), 709–724 (1993).CrossRefGoogle Scholar
2.Brogårdh, T., “Present and future robot control development—an industrial perspective,” Annu. Rev. Control 31 (1), 69–79 (2007).Google Scholar
3.Yanai, N., Yamamoto, M. and Mohri, A., “Feedback Control for Wire-Suspended Mechanism with Exact Linearization,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, vol. 3, (Sept. 30–Oct. 4, 2002) pp. 2213–2218.Google Scholar
4.Oh, S. and Agrawal, S. K., “A reference governor-based controller for a cable robot under input constraints,” IEEE Trans. Control Syst. Technol. 13 (4), 639–645 (2005).Google Scholar
5.Zarebidoki, M., Lotfavar, A. and Fahham, H. R., “Dynamic Modeling and Adaptive Control of a Cable-suspended Robot,” Proceedings of the World Congress on Engineering 2011, vol. 3, London, UK (Jul. 6–8, 2011), Lecture Notes in Engineering and Computer Science, vol. 2192 (2011).Google Scholar
6.Pi, Y. and Wang, X., “Observer-based cascade control of a 6-DOF parallel hydraulic manipulator in joint space coordinate,” Mechatronics 20 (6), 648–655 (2010).CrossRefGoogle Scholar
7.Gorman, J. J., Jablokow, K. W. and Cannon, D. J., “The Cable Array Robot: Theory and Experiment,” Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, South Korea, vol. 3, (May 21–26, 2001) pp. 2804–2810.Google Scholar
8.Oh, S.-R., Mankala, K., Agrawal, S. K. and Albus, J. S., “A dual-stage planar cable robot: Dynamic modeling and design of a robust controller with positive inputs,” J. Mech. Des. 127 (4), 612–620 (2005).Google Scholar
9.Oh, S.-R., Ryu, J.-C. and Agrawal, S. K., “Dynamics and control of a helicopter carrying a payload using a cable-suspended robot,” J. Mech. Des. 128 (5), 1113–1121 (2006).CrossRefGoogle Scholar
10.Oh, S.-R. and Agrawal, S. K., “Nonlinear Sliding Mode Control and Feasible Workspace Analysis for a Cable Suspended Robot with Input Constraints and Disturbances,” Proceedings of the 2004 American Control Conference, Boston, MA, USA, vol. 5, (Jun. 30–Jul. 2, 2004) pp. 4631–4636.Google Scholar
11.Oh, S.-R. and Agrawal, S. K., “Guaranteed Reachable Domain and Control Design for a Cable Robot Subject to Input Constraints,” Proceedings of the 2005 American Control Conference, Portland, OR, USA (Jun. 8–10, 2005) pp. 3379–3384.Google Scholar
12.Yeon, J. S. and Park, J. H.. “Practical Robust Control for Flexible Joint Robot Manipulators,” Proceedings of the IEEE International Conference on Robotics and Automation 2008, Pasadena, CA, USA (May 19–23, 2008) pp. 3377–3382.Google Scholar
13.Korayem, M. H., Tourajizadeh, H. and Bamdad, M., “Dynamic load carrying capacity of flexible cable suspended robot: robust feedback linearization control approach,” J. Intell. Robot. Syst. 60 (3–4), 341–363 (2010).CrossRefGoogle Scholar
14.Zi, B., Duan, B. Y., Du, J. L. and Bao, H., “Dynamic modeling and active control of a cable-suspended parallel robot,” Mechatronics 18 (1), 1–12 (2008).CrossRefGoogle Scholar
15.Zhang, Y., Agrawal, S. K. and Hagedorn, P., “Longitudinal vibration modeling and control of a flexible transporter system with arbitrarily varying cable lengths,” J. Vib. Control 11 (3), 431–456 (2005).Google Scholar
16.Zhang, Y., Agrawal, S. K. and Hagedorn, P., “Modeling and control of flexible transporter system with arbitrarily time-varying cable lengths,” In ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Chicago, Illinois, USA, vol. 5 (September 2–6, 2003) pp. 389–398.Google Scholar
17.Zhang, Y., Agrawal, S. K. and Piovoso, M. J., “Coupled Dynamics of Flexible Cables and Rigid End-Effector for a Cable Suspended Robot,” Proceedings of the American Control Conference 2006, Minneapolis, MN, USA (Jun. 14–16, 2006) pp. 6.Google Scholar
18.Mounier, H. and Rudolph, J., “Flatness-based control of nonlinear delay systems: A chemical reactor example,” Int. J. Control 71 (5), 871–890 (1998).Google Scholar
19.Du, J., Bao, H., Cui, C. and Yang, D., “Dynamic analysis of cable-driven parallel manipulators with time-varying cable lengths,” Finite Elem. Anal. Des. 48 (1), 1392–1399 (2012).CrossRefGoogle Scholar
20.Duan, Q. J., Du, J. L., Duan, B. Y. and Tang, A. F., “Deployment/retrieval modeling of cable-driven parallel robot,” Math. Probl. Eng. 2010, 1–10 (2010).Google Scholar
21.Alp, A. B. and Agrawal, S. K., Cable Suspended Robots: Design, Planning and Control M.Sc Thesis (Newark, NJ: Department of Mechanical Engineering, University of Delaware, 2001).Google Scholar
22.Khalil, H. K. and Grizzle, J. W., Nonlinear Systems, vol. 3 (Prentice Hall, New Jersey, 2002).Google Scholar
23.Korayem, M. H. and Tourajizadeh, H., “Maximum DLCC of spatial cable robot for a predefined trajectory within the workspace using closed loop optimal control approach,” J. Intell. Robot. Syst. 63 (1), 75–99 (2011).Google Scholar
24.Tourajizadeh, H. and Korayem, M. H., Control of Spatial Cable Robot Using Feedback Linearization Approach M.S Thesis (Tehran, Iran: Mechanical Department, Iran University of Science and Technology, 2008).Google Scholar
25.Korayem, M. H., Bamdad, M., Tourajizadeh, H., Shafiee, H., Zehtab, R. M. and Iranpour, A., “Development of ICASBOT: A cable-suspended robot's with six DOF,” Arab. J. Sci. Eng. 38 (5), 1–19 (2012).Google Scholar
26.Korayem, M. H., Khayatzadeh, S., Tourajizadeh, H. and Taherifar, M., “Online recording the position and orientation of an end-effector of a spatial cable-suspended robot for close loop control using hybrid sensors,” J. Control Eng. Technol. 3 (1), (2013).Google Scholar
27.Bracewell, R. N. and Bracewell, R. N., The Fourier Transform and its Applications, vol. 31999 (McGraw-Hill, New York, 1986).Google Scholar