Dynamic Modeling and Adaptive Control of a Cable-suspended Robot

The level adjustment of cable-driven parallel mechanism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of uncertainties exist in the adjustment process. This paper presents application of an adaptive control scheme for a cable suspended robot to handle uncertainties in mass and moments of inertia of end effecter. In section II dynamic equations of motion are derived and the constraints are utilized to obtain the complete required equations. In section Ill inverse dynamic controller and adaptive controller are presented. Simulations results presented in section IV show the effectiveness of the adaptive controller when there is no enough knowledge about system parameters.