Effectiveness of Adaptive Passivity-based Trajectory Tracking Control Of a Cable-suspended Robot
نویسندگان
چکیده
The level adjustment of cable-driven parallel mechanism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of uncertainties exist in the adjustment process. This paper presents application of an adaptive passivity-based control scheme for a cable suspended robot to handle disturbance and uncertainties in mass and moments of inertia of end effecter. In section II dynamic equations of motion are derived and the constraints are utilized to obtain the complete required equations. In section III inverse dynamics , adaptive inverse dynamics and adaptive passivity-based controllers are presented. Simulations results presented in section IV show the effectiveness of the adaptive passivity-based controller when there is no enough knowledge about system parameters and in the presence of disturbance.
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