A modularized cable-suspended robot: Implementation and oscillation suppression control

Author:

Lin Jonqlan1,Liao Guan-Ting1

Affiliation:

1. Department of Mechanical Engineering, Chien Hsin University of Science and Technology, Taoyuan City, Taiwan (R.O.C.)

Abstract

Cable-suspended robots are categorized as a style of parallel manipulator that has appealed interest for manipulation jobs. This article presents a design for a cable-suspended robot system with oscillation suppression control. The major benefits of the system design are as follows: modular, transportable, reconfigurable, and easy to install. This robotic system consists of the main object, which is a suspended platform and a cable winch that maneuvers the main object by regulating cable lengths. Furthermore, this study presents a combined control module to serve as an associate controller to stabilize the system. The associate controller positions and oscillates the suppression properties by integration feedback control with the shaping signals. The fuzzy controller is rule based and constructed based on associate controller performance-related knowledge to act as a controller. Accordingly, the proposed control scheme effectively reduces cable oscillation, especially when fuzzy control methodology is applied. The broad variety of problems deliberated in this study can be applied to assembly, automation, and large-scale manufacturing that requires a cable-suspended system.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Control and Systems Engineering

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