Modeling and oscillations control of a planar parallel robot subsystem activated by cable

Marco A. Carpio, Juan C. Placencia, Jose M. Aller, Roque J. Saltaren, Alejandro Rodriguez, Gerardo A. Portilla, Juan S. Cely

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Cable Driven Parallel Robots (CDPR) are formed by putting together two separate structures, one fixed and the other mobile part which are held together by actuating wires. These robots present several physical phenomena including vibrations and elongation of the actuating wires, which can cause loss of precision or accuracy. This work is focused on improving the stability of the final effector position of a planar CDPR suspended by two cables, using a PID control that cancels the oscillatory variations of the position end effector. The control system is validated by inputting disturbances within the actuating cables.

Original languageEnglish
Title of host publication4th IEEE Colombian Conference on Automatic Control
Subtitle of host publicationAutomatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings
EditorsJose Garcia-Tirado, Diego Munoz-Durango, Hernan Alvarez, Hector Botero-Castro
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538669624
DOIs
StatePublished - Oct 2019
Event4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia
Duration: 15 Oct 201918 Oct 2019

Publication series

Name4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

Conference

Conference4th IEEE Colombian Conference on Automatic Control, CCAC 2019
Country/TerritoryColombia
CityMedellin
Period15/10/1918/10/19

Bibliographical note

Funding Information:
ACKOWLEDGMENT This research was supported in part by the Spanish Government Projects under Grant DPI2014-57220-C2-1-P, Grant PGC2018-095939-B-100, in part by the ”RoboCity2030 DIH-CM Madrid Robotic Digital Innovation Hub, S2018/NMT-4331 and funded by the ”Programas Actividades I+D en la Comunidad de Madrid”, in part by Structural Funds of the EU and in part by the GIIRA research group at Universidad Politécnica Salesiana, Ecuador.

Funding Information:
This research was supported in part by the Spanish Government Projects under Grant DPI2014-57220-C2-1-P, Grant PGC2018-095939-B-100, in part by the "RoboCity2030 DIHCM Madrid Robotic Digital Innovation Hub, S2018/NMT-4331 and funded by the "Programas Actividades I+D en la Comunidad de Madrid", in part by Structural Funds of the EU and in part by the GIIRA research group at Universidad Polit?cnica Salesiana, Ecuador.

Publisher Copyright:
© 2019 IEEE.

Keywords

  • Motion control
  • Parallel robots
  • PID Control
  • Robot kinematics

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