A Dual-Stage Planar Cable Robot: Dynamic Modeling and Design of A Robust Controller with Positive Inputs-Reference-Cited by-同舟云学术

A Dual-Stage Planar Cable Robot: Dynamic Modeling and Design of A Robust Controller with Positive Inputs

Published:2004-10-04 Issue:4 Volume:127 Page:612-620
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Oh So-Ryeok¹,Mankala Kalyan¹,Agrawal Sunil K.¹,Albus James S.²

Affiliation:

1. Department of Mechanical Engineering, University of Delaware

2. National Institute of Standards and Technology, Gaithersburg, MD 20899-8230

Abstract

Abstract Cable robots have potential usage for loading and unloading of cargo in shipping industries. A novel six-degrees-of-freedom two-stage cable robot has been proposed by NIST for skin-to-skin transfer of cargo. In this paper, we look at a planar version of this two-stage cable robot. The disturbance motion from the sea is considered while modeling the dynamics of robot. The problem of robust control of the end-effector in the presence of unknown disturbances, along with maintaining positive tensions in the cables, is tackled using redundancy of cables in the system. Simulation results show the effectiveness of the control strategy.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/127/4/612/6768881/612_1.pdf

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