Inel, F. and M. M., Noor (2020) 3D cable-based parallel robot simulation using PD control. In: IOP Conference Series: Materials Science and Engineering, 5th International Conference on Mechanical Engineering Research (ICMER 2019) , 30-31 July 2019 , Kuantan, Malaysia. pp. 1-12., 788 (012069). ISSN 1757-899X
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Abstract
In this paper, we present a simulator that has been developed using PD control to study 3D cable-based parallel robot with four cables. The proposed control technique is widely used for dealing with linear systems uncertainties, in this context; we investigated to use the Runge Kutta method of 4th order for solving non-linear partial differential equations of our system. The main contribution of this work is firstly: modelling of differential equations of our system. Secondly, the PD control applied to the dynamic model for different trajectories in order to test the accurate tracking of the robot to a desired trajectory. The effectiveness of the proposed control strategy is improving the robot performance in terms of tracking a desired path.
| Item Type: | Conference or Workshop Item (Lecture) |
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| Uncontrolled Keywords: | 3D cable-based parallel robot; PD control |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Faculty/Division: | Faculty of Mechanical and Automotive Engineering Technology |
| Depositing User: | Noorul Farina Arifin |
| Date Deposited: | 20 Jul 2020 06:54 |
| Last Modified: | 20 Jul 2020 06:54 |
| URI: | http://umpir.ump.edu.my/id/eprint/28820 |
| Download Statistic: | View Download Statistics |
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