کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Time-Delay Learning-Based Controller for Fully-Constrained Cable-Driven Parallel Robots

نویسندگان :

Mohammad Bajelani¹ S. Ahmad Khalilpour² M. Isaac Hosseini³ S. Ali A. Moosavian⁴ Hamid D. Taghirad⁵

1- دانشگاه صنعتی خواجه نصیرالدین طوسی 2- دانشگاه صنعتی خواجه نصیرالدین طوسی 3- دانشگاه صنعتی خواجه نصیرالدین طوسی 4- دانشگاه صنعتی خواجه نصیرالدین طوسی 5- دانشگاه صنعتی خواجه نصیرالدین طوسی

کلمات کلیدی :

Modified Jacobian Transpose, Cable-Driven Parallel Robot, Force Distribution, Actuator Limitation, Data-Driven Control, Joint Space analysis

چکیده :

Despite model-based approaches are capable of providing acceptable performance, but they require complex dynamics modeling, which make them difficult to apply. To overcome this problem, a time-delay learning-based controller as a model-free approach is proposed for fully-constrained cable-driven parallel robots (CDPRs) considering the positive cable force constraints and actuator limitations. The proposed method uses the memory of control effort as a learning element to linearize the system. In addition, using a saturation function in control law has provided the opportunity to ensure all the cables are bounded and remain in tension, to guarantee both the positive cable forces and actuator limitation. Moreover, in the proposed method, we are able to eliminate the requirement of measurement of the task variables, which is very costly by using expensive external positioning measurement systems. Finally, the proposed method is evaluated on a fully constrained CDPR, and the results demonstrate how effective is the method in terms of tracking performance as a model-free controller.