Pick–and–Place Trajectory Planning and Robust Adaptive Fuzzy Tracking Control for Cable–Based Gangue–Sorting Robots with Model Uncertainties and External Disturbances

A suspended cable–based parallel robot (CBPR) composed of four cables and an end–grab is employed in a pick–and–place operation moving target gangues (MTGs) with different shapes, sizes, masses. This paper focuses on two special problems trajectory planning tracking control the gangue–sorting space. First, kinematic dynamic models for robots are presented presence model uncertainties unknown external disturbances. Second, to improve sorting accuracy efficiency system robot, four-phase scheme based S-shaped acceleration/deceleration algorithm quintic polynomial method proposed, moreover, robust adaptive fuzzy strategy against inevitable disturbances where stability closed-loop proved Lyapunov theory. Finally, performances evaluated through numerical simulations within Matlab software. The simulation results show smoothness continuity as well effectiveness guarantee stable accurate process even various generation proposed this lay foundation MTGs robot.