Title :
Dynamic Modeling and Control of Parallel Robots With Elastic Cables: Singular Perturbation Approach
Author :
Khosravi, Mohammad A. ; Taghirad, H.D.
Author_Institution :
Ind. Control Center of Excellence, K.N. Toosi Univ. of Technol., Tehran, Iran
Abstract :
In this paper, control of fully-constrained parallel cable robots with elastic cables is studied in detail. In the modeling process, longitudinal vibration of cables is considered as their dominant dynamics, and the governing equations of motion are rewritten to the standard form of singular perturbation. The proposed composite controller consists of two main components. A rigid controller is designed based on the slow or rigid model of the system and a corrective term is added to guarantee asymptotic stability of the fast dynamics. Then, by using Tikhonov theorem, slow and fast variables are separated and incorporated into the stability analysis of the overall closed-loop system, and a set of sufficient conditions for the stability of the total system is derived. Finally, the effectiveness of the proposed control law is verified through simulations.
Keywords :
asymptotic stability; cables (mechanical); closed loop systems; control system synthesis; elasticity; robot dynamics; singularly perturbed systems; vibrations; Tikhonov theorem; asymptotic stability; closed-loop system stability analysis; composite controller; corrective term; elastic cables; fully-constrained parallel cable robot control; governing equation of motion; longitudinal vibration; parallel robot dynamic modeling; rigid controller design; singular perturbation approach; sufficient conditions; Asymptotic stability; Mathematical model; Parallel robots; Power cables; Robot kinematics; Stability analysis; Cable driven parallel robots; Lyapunov analysis; Tikhonov theorem; composite control; elastic cable; singular perturbation; stability analysis;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2014.2298057
