In this paper, a spatial cable-driven parallel robot with four cables is simulated by using a technique of Model Predictive Control (MPC). The main contribution of this work is firstly: a graphical user interface has been developed and implemented so as to control the position and the end effector’s speed, takes into account the variation of mass of the end-effector (0.01–0.1 kg) and massless cables. Secondly, we study the response of differential equations for our system with MPC control for different trajectories in order to test the accurate tracking of the robot for a desired trajectory simulation using MATLAB/Simulink. The effectiveness of the proposed control strategy is demonstrated to improve the robot performance.
Mode Predictive Control for Spatial Cable Driven Parallel Robot Based on Variation the Mass of End-Effector
Carbone G.
2021-01-01
Abstract
In this paper, a spatial cable-driven parallel robot with four cables is simulated by using a technique of Model Predictive Control (MPC). The main contribution of this work is firstly: a graphical user interface has been developed and implemented so as to control the position and the end effector’s speed, takes into account the variation of mass of the end-effector (0.01–0.1 kg) and massless cables. Secondly, we study the response of differential equations for our system with MPC control for different trajectories in order to test the accurate tracking of the robot for a desired trajectory simulation using MATLAB/Simulink. The effectiveness of the proposed control strategy is demonstrated to improve the robot performance.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
