Control and simulation of cable-driven parallel robots in offshore cargo handling

Abstract

This paper represents the control and simulation of cable-driven parallel robots (CDPRs) that applied in offshore cargo handling. Two control methods are introduced based on the dynamic equation of the CDPR, which are computed torque control and sliding mode control. The co-simulation model is established in Matlab/Simulink and Adams. Simulation results demonstrate that sliding mode control performs better than computed torque control in the presence of wind force and immeasurable parameters.