Adaptive sliding mode control of a novel cable driven robot model
DOI:
https://doi.org/10.15282/jmes.13.2.2019.26.0423Keywords:
Cable driven robot, modeling, sliding mode, GUI, position control, robustnessAbstract
In this paper, we propose an adaptive sliding mode control strategy for a 3D cable-driven parallel robot. The proposed control technique is widely used for dealing with nonlinear systems uncertainties and for improving the robot performance in terms of tracking a desired path. The main contribution of this work is firstly: the graphical user interface (GUI) witch presents a point-to-point command, thus by the visualization of the end-effector position. Secondly, the sliding mode control is modeling for applied to the dynamic model for different trajectories in order to test the accurate tracking of the robot to a desired path. The effectiveness of the proposed control strategy is demonstrated through different simulation results.
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