DYNAMIC LOAD CARRYING CAPACITY OF SPATIAL CABLE SUSPENDED ROBOT: SLIDING MODE CONTROL APPROACH

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KORAYEM M.H.; JALALI M.; TOURAJIZADEH H.

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Journal Paper

Paper Information

Journal: INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY Year:2012 | Volume:5 | Issue:3 (19) Page(s): 73-81

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Information Journal Paper

Title

DYNAMIC LOAD CARRYING CAPACITY OF SPATIAL CABLE SUSPENDED ROBOT: SLIDING MODE CONTROL APPROACH

Author(s)

KORAYEM M.H. | JALALI M. | TOURAJIZADEH H. | Issue Writer Certificate

Keywords

CABLE SUSPENDED ROBOT

DYNAMIC LOAD CARRYING CAPACITY (DLCC)

SLIDING MODE CONTROL

Abstract

This paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (SMC) which is faced to external disturbances and parametric uncertainties. This control algorithm is based on Lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. The main contribution of the paper is to calculate the Dynamic Load Carrying Capacity (DLCC) of a spatial cable robot while tracking a desired trajectory based on SMC algorithm. In finale, the efficiency of the proposed method is illustrated by performing some simulation studies on the ICaSbot (IUST Cable Suspended Robot) which supports 6 DOFs using six cables. Simulation and experimental results confirm the validity of the authors’ claim corresponding to the accurate tracking capability of the proposed control, its robustness and its capability toward DLCC calculation.

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APA: Copy

KORAYEM, M.H., JALALI, M., & TOURAJIZADEH, H.. (2012). DYNAMIC LOAD CARRYING CAPACITY OF SPATIAL CABLE SUSPENDED ROBOT: SLIDING MODE CONTROL APPROACH. INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY, 5(3 (19)), 73-81. SID. https://sid.ir/paper/631960/en

Vancouver: Copy

KORAYEM M.H., JALALI M., TOURAJIZADEH H.. DYNAMIC LOAD CARRYING CAPACITY OF SPATIAL CABLE SUSPENDED ROBOT: SLIDING MODE CONTROL APPROACH. INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY[Internet]. 2012;5(3 (19)):73-81. Available from: https://sid.ir/paper/631960/en

IEEE: Copy

M.H. KORAYEM, M. JALALI, and H. TOURAJIZADEH, “DYNAMIC LOAD CARRYING CAPACITY OF SPATIAL CABLE SUSPENDED ROBOT: SLIDING MODE CONTROL APPROACH,” INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY, vol. 5, no. 3 (19), pp. 73–81, 2012, [Online]. Available: https://sid.ir/paper/631960/en

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