Modeling and adaptive sliding mode control of Samen SpaceCam

This paper introduces a three degree-of-freedom cable-suspended robot driven by four cables which is called Samen SpaceCam. This system is widely being used in stadium complexes. First we derive kinematics and dynamic equations of this robot. To overcome the system uncertainties sliding mode control is presented. In this controller to avoid calculating an upper bound of the system uncertainties, an adaptive sliding gain is proposed. Also, stability of closed-loop of the robot system based on Lyapunov theory is proven. Lastly, the proposed controller properties such as good performance tracking, disturbance rejection, and insensitivity to parameter variations are analyzed by simulation.