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

页码：3678 / 3683

页数：6

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