Control of ICaSbot Cable Robot Using Simultaneous Control of the Speed and Torque of the Motors

In this paper a new solution is presented for controlling the motors of cable robot of ICaSbot (IUST Cable Suspended Robot). The presented algorithm provides the possibility of accurate tracking of the end-effecter in industrial environments. The equations of the robot’s motors are obtained by the aid of separate testing of each motor individually. By the aid of these equations, the motors can achieve their desired angular velocity while carrying a specific amount of torque. Required feed forward controlling signal of the motors are calculated by the aid of inverse kinematics and inverse kinetics for a desired path of the end-effector which provides both the desired required motor speed and motor torque simultaneously. The calculated feed forward controlling signal will be then improved employing a PD controller and the final controlling signal will be converted to PWM using the obtained equations of the gained lookup table of the motors. Finally, the efficiency of the proposed method is investigated by comparing the experimental tests with the simulation results which proves the validation of the proposed algorithm.