Trajectory control of the cable-based parallel mechanism based on dynamics

This paper is concerned with trajectory control system of cable-based parallel mechanisms (CPM) based on dynamics. Firstly, the dynamic formulation of the CPM with non-negligible cable mass was established by means of Newton-Euler formulation. Secondly, considering the inherent characteristics of nonlinearity, slow time-variant, and multivariable coupled system, a decentralized control approach is proposed, and an immune proportional-integral-derivative controller, using fuzzy logic controller as anti-body-suppressed function to improve the self-tuning capability, is developed for each subsystem of the CPM to realize the trajectory tracking of the end-effector. Finally, simulation is performed to validate and highlight properties of the proposed control strategy in the presence of external disturbances.