Modeling and control of new model in a spatial coordinates -3D- for cable-based robots

Abstract

This paper presents a modeling and control of new model in a spatial coordinates (x, y, z), from this structures we choose: regular pyramid of a square basis manipulated by five cables and eight cables for a cubic shape. The main objective of this work is to integrate the axe (z) on the horizontal plane (x, y) i-e the plan 3D. This last their intervention especially when we obliged to transfer the end effector from point to point, for that we used the direct and inverse geometric model to study and simulate the end effector position of the robot with five and eight cables. A graphical user interface has been implemented in order to visualizing the position of the robot. Secondly, we present the desired path and determination the tensions and cables lengths of kinematic model required to follow spiral trajectory. At the end, we study the response of our systems in closed loop with a Proportional-Integrated-Derivative (PID) using MATLAB/Simulink which used to verify the performance of the controller.

Mode Predictive Control for Spatial Cable Driven Parallel Robot Based on Variation the Mass of End-Effector

“…This model aims to determine the lengths of the cables "Li", the angles "Hi" between the X, Y axes and the cables connected to the mobile platform and "ai" between the Z axe the plane X, Y. The inverse geometric model can be expressed by the following equations [9].…”

Towards Cable Parallel Robot Simulation for Control End Effector Position

“…The aims of this section, is to determine the lengths of the cables "Li", the angles "θi" between the X,Y axes and the cables connected to the mobile platform and "αi" between the Z axe the plane X, Y. The inverse geometric model can be expressed by the following equations [9].…”