Adaptive control for cable driven parallel robots

摘要

CDPR(Cable Driven Parallel Robot) is flexible robot system that can be applied to various environment and energy effective system. Because the rigid actuators of the conventional robots are changed into cables. Cable can generate only tensile force and has nonlinear features, such as nonlinear stiffness, hysteresis, creep, and so on, so it occurs unexpected vibration. In this paper adaptive controller is used to track the desired trajectory and estimated coefficient of cable model. This methods show that tracking error is reduced even though estimated parameter value has 40% error rate. The algorithm is implied to 2-D planar CDPR simulator and confirm performance of it.