3D cable-based parallel robot simulation using PD control

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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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)
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
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