Modeling and robust control of a new large scale suspended cable-driven robot under input constraint

Abstract

In this paper, modeling and control of a new large scale suspended cable-driven robot is presented. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motions. At first, kinematic and dynamic models for the proposed suspended cable-driven architecture are derived. Moreover, robust sliding mode control is utilized in order to set-point control for the proposed suspended cable-driven robot at the presence of unknown but bounded disturbances. The asymptotic stability and robustness of the proposed control law is proved using second method of Lyapunov. Since cables can only pull the end-effector, the feedback control of suspended cable-driven robots is more challenging. Thus, the admissible set points for the system are searched under sliding mode control input and disturbances. Finally, the effectiveness of the proposed robust control scheme is demonstrated through simulations.