Adaptive Control of KNTU Planar Cable-Driven Parallel Robot with Uncertainties in Dynamic and Kinematic Parameters

This paper addresses the design and implementation of adaptive control on a planar cable-driven parallel robot with uncertainties in dynamic and kinematic parameters. To develop the idea, firstly, adaptation is performed on dynamic parameters and it is shown that the controller is stable despite the kinematic uncertainties. Then, internal force term is linearly separated into a regressor matrix in addition to a kinematic parameter vector that contains estimation error. In the next step to improve the controller performance, adaptation is performed on both the dynamic and kinematic parameters. It is shown that the performance of the proposed controller is improved by correction in the internal forces. The proposed controller not only keeps all cables in tension for the whole workspace of the robot, it is computationally simple and it does not require measurement of the end-effector acceleration as well. Finally, the effectiveness of the proposed control algorithm is examined through some experiments on KNTU planar cable-driven parallel robot and it is shown that the proposed control algorithm is able to provide suitable performance in practice.