سال انتشار: ۱۳۹۱

محل انتشار: بیستمین کنفرانس سالانه مهندسی مکانیک

تعداد صفحات: ۴

نویسنده(ها):

Mahmoud Zarebidoki – M.Sc. Student, Department of Mechanical and Aerospace Engineering
Amir Lotfavar – Assistant Professor, Department of Mechanical and Aerospace Engineering and Marine System Research Center
Hamidreza Fahham – Assistant Professor, Marvdasht Branch, Islamic Azad University

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 and disturbances exist in the adjustment process. This paper presents application of three robust control schemes for a cable suspended robot to handle disturbance and uncertainties in mass and moments of inertia of end effecter. In thispaper, after introducing dynamics equation of cablebased robots, robust inverse dynamics, robust passivitybased and robust adaptive-controllers are presented. Simulation results show the effectiveness of robustadaptive controller when there is no enough knowledge about system parameters and in the presence of disturbance.