Dynamic modeling and robust controller design of a two-stage parallel cable robot

被引：5
|
作者：
Oh, SR [1 ]
Mankala, K [1 ]
Agrawal, SK [1 ]
Albus, JS [1 ]
机构：
[1] Univ Delaware, Dept Mech Engn, Newark, DE 19716 USA
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
10.1109/ROBOT.2004.1308830
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Cable robots have been extensively used for the loading and unloading of cargo in shipping industries. In this paper, we look at a two stage cable robot, i.e., a cable robot with two moving platforms connected in series. Sea condition introduces disturbance into the system. This disturbance is considered while modeling the dynamics of the two stage cable robot A robust controller is designed which can assure robust tracking of the desired end-effector trajectory in the presence of the disturbance. Simulation results presented show the effectiveness of the controller.
引用
收藏
页码：3678 / 3683
页数：6
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