Optimal Path Planning of Spatial Cable Robot Using Optimal Sliding Mode Control

摘要

This paper proposes a control strategy for a cable-suspended robot based on an optimal sliding mode approach confronted by external disturbances and parametric uncertainties. This control algorithm is based on the Lyapunov technique, which is not only able to provide the stability of the end-effector with an acceptable precision but also provides the optimal path in which the maximum load can be carried along. In addition, the optimization of the robot is performed based on an optimal sliding mode (SMC) approach. Tracking a predefined trajectory, path planning and the calculation of its relevant Dynamic Load Carrying Capacity (DLCC) is done based on the motors' torque and accuracy constraints. Optimal SMC, as a robust control algorithm, is used for controlling the stability of the system, while the Linear Quadratic Regulator (LQR) optimization tool is employed in order to optimize the controller gains. The main contribution of the paper is in calculating the DLCC of the cable robot. Finally, the efficiency of the proposed method is illustrated by performing some simulation studies on the ICaSbot (IUST Cable-suspended Robot), which supports six DOFs using six actuating cables, and experimental results confirm the validity of the authors' claim.