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The DSpace digital repository system captures, stores, indexes, preserves, and distributes digital research material.Tue, 27 Feb 2024 04:55:16 GMT2024-02-27T04:55:16ZControl of an Underactuated 4 Cable-Driven Parallel Robot using Modified Input-Output Feedback Linearization
http://hdl.handle.net/10985/20277
Control of an Underactuated 4 Cable-Driven Parallel Robot using Modified Input-Output Feedback Linearization
KUMAR, Atal Anil; ABBA, Gabriel; ANTOINE, Jean-François
This paper presents the control of an underactuated four Cable-Driven Parallel Robot (CDPR) using a modified input-output feedback linearization technique. The effect of internal dynamics (due to the underactuated degrees of freedom of the CDPR) on the behavior of the moving platform is presented to highlight the need of an improved controller to stabilize the system outputs. A modified control scheme is then proposed as a solution to obtain stable system outputs. A structure with two separate branches modeled to simultaneously act on the control inputs and the mathematical calculations are done using the well-established equations of nonlinear control theory. Following this, the response of the system to modified control law is then verified by simulation. A comparison between the classical and modified feedback linearization shown to illustrate the significant improvement
Wed, 01 Jan 2020 00:00:00 GMThttp://hdl.handle.net/10985/202772020-01-01T00:00:00ZKUMAR, Atal AnilABBA, GabrielANTOINE, Jean-FrançoisThis paper presents the control of an underactuated four Cable-Driven Parallel Robot (CDPR) using a modified input-output feedback linearization technique. The effect of internal dynamics (due to the underactuated degrees of freedom of the CDPR) on the behavior of the moving platform is presented to highlight the need of an improved controller to stabilize the system outputs. A modified control scheme is then proposed as a solution to obtain stable system outputs. A structure with two separate branches modeled to simultaneously act on the control inputs and the mathematical calculations are done using the well-established equations of nonlinear control theory. Following this, the response of the system to modified control law is then verified by simulation. A comparison between the classical and modified feedback linearization shown to illustrate the significant improvementInput-Output Feedback Linearization for the Control of a 4 Cable-Driven Parallel Robot
http://hdl.handle.net/10985/20275
Input-Output Feedback Linearization for the Control of a 4 Cable-Driven Parallel Robot
KUMAR, Atal Anil; ABBA, Gabriel; ANTOINE, Jean-François
This paper presents the control of an under-constrained 4 Cable-Driven Parallel Robot (CDPR) using input-output feedback linearization technique. The dynamic model of the CDPR is first formulated by taking into account the Euler angle rates. Following this the input-output feedback linearization method is implemented to decouple the output and input. A linear feedback controller is then designed using pole placement method to control the CDPR. The control law is then verified by simulation using MATLAB software. Simple trajectories are then tested with and without the presence of noise to analyze the behavior of the control law.
Tue, 01 Jan 2019 00:00:00 GMThttp://hdl.handle.net/10985/202752019-01-01T00:00:00ZKUMAR, Atal AnilABBA, GabrielANTOINE, Jean-FrançoisThis paper presents the control of an under-constrained 4 Cable-Driven Parallel Robot (CDPR) using input-output feedback linearization technique. The dynamic model of the CDPR is first formulated by taking into account the Euler angle rates. Following this the input-output feedback linearization method is implemented to decouple the output and input. A linear feedback controller is then designed using pole placement method to control the CDPR. The control law is then verified by simulation using MATLAB software. Simple trajectories are then tested with and without the presence of noise to analyze the behavior of the control law.