Dynamic Modeling and Simulation of Sliding Mode Control for a Cable Driven Parallel Robot

Inel, Fouad; Mansouri, Z.; Ceccarelli, Marco; Carbone, Giuseppe

doi:10.1007/978-3-319-79111-1_41

Cited by 8 publications

(5 citation statements)

References 14 publications

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“…A system of ropes coiled on pulleys controls the height of the habitat modulus, the trim during motion, and lowering and climbing. Because of their advantageous high strength/mass ratio, flexibles are frequently used in aeronautical systems [16,17]. The pulley system that makes up the open ring control has a changeable radius.…”

Section: Introductionmentioning

confidence: 99%

Exploratory habitation vehicles with trim intrinsic control

Manuello,

Marano

2024

Meccanica

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Considering the space environment and its critical issues and consequent risks, the challenge is to define the way and tools with which future astronauts will be able to act, live and work in space and, in particular on the Moon and Mars, exploiting, at the state of art, knowledge of innovative science, engineering and technology. On the Moon and Mars, the most obvious environmental factors are extreme temperature fluctuations, low gravity and the virtual absence of atmosphere and magnetosphere. The health of a human body can be damaged by reduced values of gravity. Due to the reduced gravity on the Moon and Mars, human bones and muscles are unloaded and begin to weaken. It increases the risk of bone fractures and atrophied muscles for astronauts returning to Earth from prolonged missions. The magnetosphere and atmosphere on Earth shield from much of the dangerous solar and cosmic radiation. Radiation with extremely high energies can damage even living tissue. The surface of the Moon and Mars has been crushed by millions of impacts of celestial bodies such as asteroids, leaving a layer of regolith that could be very deep depending on the areas of the planets. The habitation module, described in this paper, is carried by a vehicle equipped with two pairs of compass shaped legs that act as supports for the habitation module capable of maintaining a certain controlled height with respect to the ground as well as a horizontal attitude, during the movement of the compass. A system of ropes wound on pulleys allows to control the height of the habitat with respect to the ground, control the structure in movement, descent and ascent. The habitat can also be lowered to the ground. The geometry of the shape of the pulleys, around which the ropes are wound, is determined in such a way that the habitation module remains at a certain height during the movement defined by the two compass-shaped advancement supports. The paper describes and analyzes the movement of the pulleys during the entire phase of the movement of the habitation module and their geometric shape is discussed.

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Section: Introductionmentioning

confidence: 99%

Exploratory habitation vehicles with trim intrinsic control

Manuello,

Marano

2024

Meccanica

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“…Vantilt presented a model-based control method to compensate for the exoskeleton dynamics, which relied on modeling the full exoskeleton dynamics and the contacts with the environment [14]. Inel used sliding model control to follow the desired trajectories, an accurate dynamics model of a cable-driven robot was still needed [15]. However, controlled objects usually have the problems of disturbance and parameter errors; thus, it is difficult to obtain an accurate dynamic model in the actual exoskeleton system.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Neural Network Control with Fuzzy Compensation for Upper Limb Exoskeleton in Active Spacesuit

Dai

Tang

2021

Electronics

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In order to meet the maneuverability requirements of spacesuits for future manned planetary exploration, the concept of an active spacesuit based on the joint-assisted exoskeleton technology is presented. First, by studying the kinematic characteristics of the operator wearing the simulated spacesuit in different gravity environments, we developed a prototype of the upper limb exoskeleton. Then, the resistance moment of the simulated spacesuit was roughly obtained to match the operator’s motion range, being utilized to design the resistance moment model. Considering the unknown resistance moment effects in the active spacesuit and the uncertainties of the exoskeleton’s dynamics model, an adaptive neural network control with fuzzy compensation was developed to drive the upper limb exoskeleton’s tracking desired trajectories. Experimental studies were carried out using an upper limb exoskeleton to illustrate that the proposed method has excellent trajectory tracking performance and good adaptive ability to the gravity environment changes.

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“…At the next sampling time, the prediction horizon moves one step forward, and the optimization problem is repeated iteratively. However, the above-mentioned problem becomes more difficult, or even impossible to solve, when it is implemented for nonlinear systems with fast dynamics, especially in the case where several constraints are considered, such as that proposed by Inel et al in [16] or by Carbone et al in [17]. This is because the on-line nonlinear optimization algorithm imposes a heavy computational burden which requires a large computation time, as reported, for example, by Tang and Shao in [18], by Li et al in [19], or by Poignet and Gautier in [20].…”

Section: Introductionmentioning

confidence: 99%

A Non-Linear Continuous-Time Generalized Predictive Control for a Planar Cable-Driven Parallel Robot

2021

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This paper addresses a novel nonlinear algorithm for the trajectory tracking of a planar cable-driven parallel robot. In particular, we outline a nonlinear continuous-time generalized predictive control (NCGPC). The proposed controller design is based on the finite horizon continuous-time minimization of a quadratic predicted cost function. The tracking error in the receding horizon is approximated using a Taylor-series expansion. The main advantage of the proposed NCGPC is based on using an analytic solution, which can be truncated to a desired degree of order of the Taylor-series. This allows us to achieve a prediction horizon of NCGPC tracking performance. The description of the proposed NCGPC method is followed by a comparison between NCGPC and a conventional computed torque control (CTC) method. Robustness tests are performed by considering payload and parameter uncertainties for both controllers. Simulation results of NCGPC compared to the commonly used CTC prove the effectiveness and advantages of the proposed approach.

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Dynamic Modeling and Simulation of Sliding Mode Control for a Cable Driven Parallel Robot

Cited by 8 publications

References 14 publications

Exploratory habitation vehicles with trim intrinsic control

Exploratory habitation vehicles with trim intrinsic control

Adaptive Neural Network Control with Fuzzy Compensation for Upper Limb Exoskeleton in Active Spacesuit

A Non-Linear Continuous-Time Generalized Predictive Control for a Planar Cable-Driven Parallel Robot

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