Input-Output Feedback Linearization for the Control of a 4 Cable-Driven Parallel Robot
Article dans une revue avec comité de lecture
Date
2019Journal
9th IFAC Conference MIM 2019Abstract
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.
Files in this item
- Name:
- LCFC_MIM_2019_KUMAR.pdf
- Size:
- 731.5Kb
- Format:
- Description:
- Input-Output Feedback Linearization ...
Related items
Showing items related by title, author, creator and subject.
-
Article dans une revue avec comité de lectureKUMAR, Atal Anil; ANTOINE, Jeau-Francois; ABBA, Gabriel (Elsevier BV, 2020)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 ...
-
Article dans une revue avec comité de lectureABBA, Gabriel; ANTOINE, Jean-François; SAUVEY, Christophe; VISA, Codrut (2004)This paper deals with the study of high speed switched reluctance motors and their pre-dimensioning. The predimensioning is tackled towards the inductance profile and the torque generation. Then, the power density is ...
-
Communication avec acteWANG, Ke; LEONARD, François; ABBA, Gabriel (IEEE/ASME, 2014)This paper proposes a new approach to simplify the dynamic model of industrial robot by means of interval method. Due to strong nonlinearities, some components of robot dynamic model such as the inertia matrix and the ...
-
Off-line path programming for three-dimensional robotic friction stir welding based on Bézier curves Article dans une revue avec comité de lectureKOLEGAIN, Komlan; LEONARD, François; ZIMMER-CHEVRET, Sandra; BEN ATTAR, Amarilys; ABBA, Gabriel (Emerald, 2018)Robotic friction stir welding (RFSW) is an innovative process which enables solid-state welding of aluminum parts using robots. A major drawback of this process is that the robot joints undergo elastic deformation during ...
-
Communication avec acteQIN, Jinna; LEONARD, François; ABBA, Gabriel (Elsevier/International Federation of Automatic Control, 2014)This paper demonstrates the solutions of digital observer implementation for industrial applications. A nonlinear high-gain discrete observer is proposed to compensate the tracking error due to the flexibility of robot ...