Abstract
A Cable-Driven Parallel Robot (CDPR) is a specialized parallel robot that uses flexible cables to connect a base platform (BP) to a mobile platform (MP). In these robots, cables can be winded or unwinded using electrical motors, winches, and pullies to move the MP. Various applications of these robots have been proposed, mainly due to the low inertia, high load capacity, and large workspaces. The application and control of these types of robots for underwater navigation and intervention are rarely presented in the literature. This paper examines the efficiency of different robust controllers for trajectory tracking of CDPRs, considering fluid and robot parameters uncertainties. A set of dynamic equations is first presented, considering fluid forces, including buoyancy, drag, and added mass. Four controllers, consisting of Inverse Dynamics (ID), Robust Passivity Based (RPB), Robust Inverse Dynamics (RID), and Adaptive Robust (AR), are then implemented in the CDPR. The effect of accounting for uncertainties in robot and fluid parameters in different controller efficiency is investigated using simulations in MATLAB software. The results illustrate the effectiveness of the model-free AR controller in handling uncertainties in robot and fluid parameters.
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Zarebidoki, M., Dhupia, J.S., Xu, P. (2023). Comparison of Different Robust Control Methods for Trajectory Tracking of Cable-Driven Parallel Robots in Fluidic Environment. In: Jo, J., et al. Robot Intelligence Technology and Applications 7. RiTA 2022. Lecture Notes in Networks and Systems, vol 642. Springer, Cham. https://doi.org/10.1007/978-3-031-26889-2_30
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