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CONTROL OF A CABLE-DRIVEN PLANAR PARALLEL ROBOT WITH FEEDBACK LINEARIZATION
Abstract
In this study, we study the positioning performances of PID control, and PID control used with feedback linearization method on a planar cable-driven parallel robot (CDPR) experimentally. Both control processes are examined in terms of stability, steady-state performances, and robustness to external disturbances. Robot’s end-effector mass variations are also investigated to test the controllers under modelling uncertainties. The results obtained from the controllers are then compared and discussed. Results show that, the feedback linearization technique with PID control is superior in stabilization and elimination of disturbance effects than the use of PID control alone. Moreover, steady-state responses of feedback linearization PID control provides %40 performance improvement. Finally, we discuss some problems that may occur in feedback linearized PID control of CDPR and the solutions to these problems are addressed
Keywords
Supporting Institution
Karadeniz Teknik Üniversitesi Bilimsel Araştırma Projeleri Koordinasyon Birimi
Project Number
7415
Thanks
Bu çalışma Karadeniz Teknik Üniversitesi Bilimsel Araştırma Projeleri Koordinasyon Birimince FBA-2018-7415 numaralı proje kapsamında desteklenmiştir. Destekleri için Karadeniz Teknik Üniversitesi’ne teşekkür ederiz.
References
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- Sancak, C. (2022). Kablo ile sürülen paralel bir robotun tahmin ve öğrenme temelli yöntemler ile konum ve düzlem dışı titreşim denetimi. Karadeniz Teknik Üniversitesi Fen Bilimleri Enstitüsü Makina Mühendisliği Anabilim Dalı, Trabzon.
Details
Primary Language
Turkish
Subjects
Mechanical Engineering
Journal Section
Research Article
Publication Date
September 3, 2023
Submission Date
May 5, 2023
Acceptance Date
June 15, 2023
Published in Issue
Year 1970 Volume: 26 Number: 3