Kinematic Modeling And PID Control Of A Two-Dimensional Cable Robot In Agriculture

The high adaptability of cable robots to complex environments has led to their introduction into the agricultural sector in recent years. In this research, the simulation results of a two-dimensional experimental cable robot, which is being developed for agricultural applications, are presented. The designed cable robot is introduced, covering the forward and inverse kinematics of the cable robot and the simulation of the robot's movement in reaching a desired point and traversing a specific path using PID control. The Proteus software was used for simulating the robot's electronic circuit, and the Multibody Simscape environment in Matlab software was employed for simulating the robot's movement. Before the final evaluation, the controller used for the robot was tuned in the Matlab software environment to ensure that the robot demonstrated suitable and acceptable performance in terms of control parameters. The time response charts of the robot in reaching a desired point and traversing a specific path were also determined and analyzed.

کلیدواژه ها:

Parallel cable robot ، robot simulation ، kinematic equations ، Proteus ، Simulink