Design of a proportional-integral-derivative control scheme for a ۳DOF cable robot

This study focuses on a ۳ degree of freedom (۳DOF) planar cable robot, modeled as a closed-chain structure with the actuator fixed to the ground. The research investigates the governing equations, stability, and control of the system. To achieve precise control over the robot's movement, a Proportional-Integral-Derivative (PID) control approach is applied. The PID controller is designed to guide the robot along multiple predefined trajectories while maintaining stability and accuracy. The control gains are carefully tuned to ensure optimal performance under the given conditions. System state diagrams are used to demonstrate the effectiveness of the proposed control policy, showing that the robot's end-effector successfully follows the desired paths. This research aims to contribute to the development of efficient, stable, and precise control methods for cable-driven parallel robots in practical applications.

کلیدواژه ها:

Cable robot ، Proportional-integral-derivative control ، Trajectory tracking ، End-effector