Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables
In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with e...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Amirkabir University of Technology
2016-11-01
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| Series: | AUT Journal of Electrical Engineering |
| Subjects: | |
| Online Access: | https://eej.aut.ac.ir/article_821_28a68580833efe4b201fa4d8293386e8.pdf |
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