ﮐﻨﺘﺮل ﻫﯿﺒﺮﯾﺪ رﺑﺎﺗﻬﺎي ﮐﺎﺑﻠﯽ ﺑﺎ ﮐﺎﺑﻠﻬﺎي ﮐﺸﺴﺎن

Hybrid Control of Cable Robots with Elastic Cables

ﭼﮑﯿﺪه: در اﯾﻦ ﻣﻘﺎﻟﻪ ﯾﮏ روش ﮐﻨﺘﺮﻟﯽ اﺻﻼح ﺷﺪه ﺗﻄﺒﯿﻘﯽ ﻣﻘﺎوم ﺑﺮاي ﮐﻨﺘﺮل رﺑﺎﺗﻬﺎي ﮐﺎﺑﻠﯽ ﮐﺎﻣﻼً ﻣﻘﯿﺪ ﺑﺎ ﮐﺎﺑﻠﻬﺎي ﮐﺸﺴﺎن اراﺋﻪ ﻣﯽﺷﻮد. اﺑﺘﺪا ﯾﮏ اﻟﮕﻮرﯾﺘﻢ ﮐﻨﺘﺮﻟﯽ ﺗﻄﺒﯿﻘﯽ ﻣﺒﺘﻨﯽ ﺑﺮ ﮐﻨﺘﺮل ﻣﻮد ﻟﻐﺰﺷﯽ ﺑﺮاي رﺑﺎﺗﻬﺎي ﺻﻠﺐ ﻣﻌﺮﻓﯽ ﻣﯽﮔﺮدد و ﺑﺮاي اﻃﻤﯿﻨﺎن از اﯾﻨﮑﻪ ﻫﻤﻪ ﮐﺎﺑﻠﻬﺎ در ﻣﺤﺪوده ﮐﺎري ﺗﺤﺖ ﮐﺸﺶ ﻫﺴﺘﻨﺪ از ﻣﻔﻬﻮم ﻧﯿﺮوي داﺧﻠﯽ اﺳﺘﻔﺎده ﻣﯽﺷﻮد. ﺳﭙﺲ ﮐﻨﺘﺮلﮐﻨﻨﺪه ﺗﻄﺒﯿﻘﯽ رﺑﺎﺗﻬﺎي ﺻﻠﺐ ﺑﺎ ﺗﺒﺪﯾﻞ ﻣﻌﺎدﻻت دﯾﻨﺎﻣﯿﮑﯽ ﺑﻪ دﺳﺖ آﻣﺪه ﺑﻪ ﻓﺮم آﺷﻔﺘﻪ ﺗﮑﯿﻦ ﺑﺮاي ﮐﻨﺘﺮل رﺑﺎﺗﻬﺎي ﺑﺎ ﮐﺎﺑﻠﻬﺎي ﮐﺸﺴﺎن ﺗﻮﺳﻌﻪ داده ﻣﯽﺷﻮد. ﺑﺮاي ﺑﻬﺒﻮد ﭘﺎﯾﺪاري و ﻋﻤﻠﮑﺮد ﻣﻘﺎوم ﺳﯿﺴﺘﻢ ﺑﻪ ﻋﻨﻮان ﯾﮑﯽ از ﻧﻮآورﯾﻬﺎي ﻣﻘﺎﻟﻪ، ﯾﮏ ﻋﺒﺎرت اﺻﻼحﮐﻨﻨﺪه ﺑﻪ ﻗﺎﻧﻮن ﺗﻄﺒﯿﻖ رﺑﺎﺗﻬﺎي ﺻﻠﺐ اﺿﺎﻓﻪ ﻣﯽﺷﻮد و ﺗﺤﻠﯿﻞ ﭘﺎﯾﺪاري ﺳﯿﺴﺘﻢ ﺑﻪ ﮐﻤﮏ ﺗﺌﻮري ﻟﯿﺎﭘﺎﻧﻮف اﻧﺠﺎم ﻣﯽﺷﻮد. در اﻧﺘﻬﺎ ﺿﻤﻦ اراﺋﻪ ﻧﺘﺎﯾﺞ ﺷﺒﯿﻪﺳﺎزي رﺑﺎت ﻣﻮرد ﻧﻈﺮ ﺑﺎ ﮐﺎﺑﻞﻫﺎي اﻧﻌﻄﺎف ﭘﺬﯾﺮ، ﮐﺎرآﻣﺪي اﻟﮕﻮرﯾﺘﻢ ﮐﻨﺘﺮﻟﯽ ﭘﯿﺸﻨﻬﺎدي در ﺑﺮاﺑﺮ ﻋﺪم ﻗﻄﻌﯿﺖ ﭘﺎراﻣﺘﺮﻫﺎي دﯾﻨﺎﻣﯿﮑﯽ اﺛﺒﺎت ﻣﯽﺷﻮد و ﺑﺎ ﻣﻘﺎﯾﺴﻪ ﻋﻤﻠﮑﺮد روش ﮐﻨﺘﺮﻟﯽ ﭘﯿﺸﻨﻬﺎد ﺷﺪه در اﯾﻦ ﻣﻘﺎﻟﻪ ﺑﺎ ﮐﻨﺘﺮلﮐﻨﻨﺪه ﺗﻄﺒﯿﻘﯽ ﻣﻘﺎوم اوﻟﯿﻪ، ﺑﻬﺒﻮد ﭼﺸﻤﮕﯿﺮ در دﻗﺖ ردﯾﺎﺑﯽ ﻣﺴﯿﺮ ﻣﻄﻠﻮب ﺗﺄﯾﯿﺪ ﻣﯽﺷﻮد.

In this paper a modified adaptive robust composite control scheme for fully-constrained cable-driven robots with elastic cables is presented here. At first, an adaptive control algorithm based on sliding mode control method is introduced for rigid robots using internal force concept to ensure that all cables are remained in tension through the whole workspace. Then, the dynamic equations are turned into singularly perturbed form to develop the adaptive controller of rigid robots to be used for robots with elastic cables. To improve the stability and robust performance of the system as an achievement of the paper, a correction term is added to the adaption law of rigid robots and the stability analysis of the system is conducted using the Lyapunov theory. Finally, while the simulation results are given for intended robot with elastic cables, performance of the proposed algorithm against the uncertainty of dynamic parameters is proved and by comparing the performance of the proposed control scheme in this paper with those related to the initial robust adaptive controller a remarkable improvement in the accuracy of the desired path tracking confirmed.