| Design of a proportional-integral-derivative control scheme for a 3DOF cable robot |
| کد مقاله : 1516-ISME2025 |
| نویسندگان |
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محمدجواد محمودآبادی *1، ادیب قنواتی2، سبحان حاج محمدی1 1دانشگاه صنعتی سیرجان 2وابستگی سازمانی ندارند. |
| چکیده مقاله |
| Cable-driven parallel robots are becoming increasingly popular due to their simple structure and high strength-to-weight ratio, making them suitable for various applications in both research and industry. This study focuses on a 3 degree of freedom (3DOF) planar cable robot, modeled as a closed-chain structure with the actuator fixed to the ground. The research investigates the governing equations, stability, and control of the system. To achieve precise control over the robot's movement, a Proportional-Integral-Derivative (PID) control approach is applied. The PID controller is designed to guide the robot along multiple predefined trajectories while maintaining stability and accuracy. The control gains are carefully tuned to ensure optimal performance under the given conditions. System state diagrams are used to demonstrate the effectiveness of the proposed control policy, showing that the robot's end-effector successfully follows the desired paths. This research aims to contribute to the development of efficient, stable, and precise control methods for cable-driven parallel robots in practical applications. |
| کلیدواژه ها |
| Cable robot, Proportional-integral-derivative control, Trajectory tracking, End-effector. |
| وضعیت: پذیرفته شده برای ارائه شفاهی |