Optimal Path Planning of Spatial Cable-Suspended Robot Subject to Maximum Load Carrying Capacity Using Optimal Sliding Mode Control Approach

سال انتشار: 1390
محل انتشار: دوازدهمین کنفرانس ملی مهندسی ساخت و تولید ایران
کد COI اختصاصی: ICME12_357
زبان مقاله: انگلیسی
تعداد مشاهده: 886

نویسندگان

Faculty of Mechanical Engineering, Islamic Azad University Branch of Science & Research and Iran University of Science & Technology, Tehran, Iran

M. Jalali

School of Mechanical Engineering, College of Engineering, Islamic Azad University Branch of Science & Research, Tehran, Iran

H. Tourajizade

Mechanical Engineering Department, Iran University of Science & Technology, Tehran, Iran

چکیده

In this paper, optimization of a spatial cable-suspended robot is done based on optimal sliding mode approach. The path planning and calculation of its related DLCC is done based on motors’ torque constraint and accuracy constraint. Sliding Mode Controller as a robust control algorithm is used for controlling the stability while LQR optimization tool is employed in order to optimizing the controller gains. This control algorithm is based on Lyapunov technique which not only is able to provide the stability of the end-effector in presence of external disturbances but also provides the optimal path in which the heaviest load can be carried along. A simulation study is done on the ICaSbot which is a spatial cable robot with 6 DOFs using six actuating cables. The efficiency of the proposed algorithm is verified by comparing the results with recent similar researches as well as the results of experimental tests conducted on the ICaSbot.

کلیدواژه ها

Cable suspended robot; Sliding Mode Control (SMC); Dynamic Load Carrying Capacity (DLCC); Linear Quadratic Regulator (LQR)

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