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 EngineeringShiraz University of Technology
Amir Lotfavar – Assistant Professor, Department of Mechanical and Aerospace Engineering and Marine System Research Center,Shiraz University of Technology
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 exist in the adjustment process. This paper presents application of passivity based backstepping technique for trajectory tracking of a cable-based manipulator, with DC motors, in the presence of parameters uncertainty and disturbance. At first, dynamic equations of motion are introduced, then third order inverse dynamics and passivity based backstepping controllers incorporating actuator dynamics are presented respectively. Comparison of simulation results of the two methods shows that passivity based with respect to inverse dynamics method has more smooth control commands and better trajectory tracking in presence of uncertainty and disturbance by using passivity properties of the robot