Dynamic control of a 3-DOF cable-driven robot based on backstepping technique

Author

You, Xianqiang ; Chen, Weihai ; Yu, Shouqian ; Wu, Xingming

Author_Institution

Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China

fYear

2011

fDate

21-23 June 2011

Firstpage

1302

Lastpage

1307

Abstract

In this paper, the research object is 3-DOF spherical joint robot driven by four cables, which imitates the motion of people´s shoulder joint. The dynamic model of the 3-DOF cable-driven robotic shoulder joint is built by using Lagrange dynamics method so as to obtain the standard form of dynamic equation. Based on backstepping technique, the control law of the system model is designed for the robot trajectory tracking control problem. The control system framework is established in the environment of MATLAB/SUMILINK, and the control algorithm is programmed by s-function. The correctness of the robot dynamic model and the effectiveness of the designed controller are validated through the simulation analysis. These lay a good theory foundation for further research on effective control and performance improvement of the cable-driven parallel robot.

Keywords

cables (mechanical); control system synthesis; manipulator dynamics; position control; tracking; 3DOF cable-driven robot; 3DOF spherical joint robot; Lagrange dynamics method; MATLAB-SUMILINK; backstepping technique; cable-driven parallel manipulator; dynamic control; dynamic equation; robot trajectory tracking control problem; s-function; Dynamics; Equations; Joints; Manipulators; Mathematical model; Shoulder; backstepping; cable-driven; dynamics; shoulder joint;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2011 6th IEEE Conference on

Conference_Location

Beijing

ISSN

pending

Print_ISBN

978-1-4244-8754-7

Electronic_ISBN

pending

Type

conf

DOI

10.1109/ICIEA.2011.5975788

Filename

5975788