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 language | English |
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Title of host publication | 4th IEEE Colombian Conference on Automatic Control |
Subtitle of host publication | Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings |
Editors | Jose Garcia-Tirado, Diego Munoz-Durango, Hernan Alvarez, Hector Botero-Castro |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
ISBN (Electronic) | 9781538669624 |
DOIs | |
State | Published - Oct 2019 |
Event | 4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia Duration: 15 Oct 2019 → 18 Oct 2019 |
Publication series
Name | 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings |
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Conference
Conference | 4th IEEE Colombian Conference on Automatic Control, CCAC 2019 |
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Country/Territory | Colombia |
City | Medellin |
Period | 15/10/19 → 18/10/19 |
Bibliographical note
Publisher Copyright:© 2019 IEEE.
Keywords
- Motion control
- Parallel robots
- PID Control
- Robot kinematics