Dynamic control of a 3-DOF cable-driven robot based on backstepping technique

摘要

In this paper, the research object is 3-DOF spherical joint robot driven by four cables, which imitates the motion of people's shoulder joint. The dynamic model of the 3-DOF cable-driven robotic shoulder joint is built by using Lagrange dynamics method so as to obtain the standard form of dynamic equation. Based on backstepping technique, the control law of the system model is designed for the robot trajectory tracking control problem. The control system framework is established in the environment of MATLAB/SUMILINK, and the control algorithm is programmed by s-function. The correctness of the robot dynamic model and the effectiveness of the designed controller are validated through the simulation analysis. These lay a good theory foundation for further research on effective control and performance improvement of the cable-driven parallel robot.