PRACTICAL PERFORMANCE COMPARISON OF POLE PLACEMENT AND SLIDING MODE CONTROLLER FOR POSITION CONTROL OF CABLE-DRIVEN PARALLEL ROBOTS USING VISUAL SERVOING

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BAYANI HASSAN; TALE MASOULEH MEHDI; KALHOR AHMAD

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Journal: Modares Mechanical Engineering Year:2016 | Volume:15 | Issue:12 Page(s): 63-74

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Title

PRACTICAL PERFORMANCE COMPARISON OF POLE PLACEMENT AND SLIDING MODE CONTROLLER FOR POSITION CONTROL OF CABLE-DRIVEN PARALLEL ROBOTS USING VISUAL SERVOING

Author(s)

BAYANI HASSAN | TALE MASOULEH MEHDI | KALHOR AHMAD | Issue Writer Certificate

Keywords

CABLE-DRIVEN PARALLEL ROBOTSQ2

KINEMATICQ2

VISUAL SERVOINGQ2

CONTROLQ2

Abstract

This paper presents implementation of position CONTROL for planar CABLE-DRIVEN PARALLEL ROBOTS using VISUAL SERVOING. The main contribution of this paper contains three objectives. First, a method is used toward KINEMATIC modeling of the robot using four-bar linkage KINEMATIC concept, which could be used in online CONTROL approaches for real-time purposes due to decreasing of the unknown parameters and computation time. Second, in order to track the position of End-Effector, an online image processing procedure is developed and implemented. Finally, as the third contribution, two different CONTROLlers in classic and modern approaches are applied in order to validate the model with plant and obtain the most promising CONTROLler. As classic CONTROLler, pole placement approach is suggested and results demonstrate weaknesses in modeling the uncertainties although they represent acceptable performance. Due to the latter incapability, sliding mode CONTROLler is utilized and experimental tests represent effectiveness of this method. Result of the latter procedure is an inimitable operation on the desired task, however, it suffers from chattering effect. Moreover, results of these CONTROLlers confirm accommodation between the model and robot. The whole procedure imposed could be applied for any kind of cable-driven parallel robot.

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APA: Copy

BAYANI, HASSAN, TALE MASOULEH, MEHDI, & KALHOR, AHMAD. (2016). PRACTICAL PERFORMANCE COMPARISON OF POLE PLACEMENT AND SLIDING MODE CONTROLLER FOR POSITION CONTROL OF CABLE-DRIVEN PARALLEL ROBOTS USING VISUAL SERVOING. MODARES MECHANICAL ENGINEERING, 15(12), 63-74. SID. https://sid.ir/paper/179921/en

Vancouver: Copy

BAYANI HASSAN, TALE MASOULEH MEHDI, KALHOR AHMAD. PRACTICAL PERFORMANCE COMPARISON OF POLE PLACEMENT AND SLIDING MODE CONTROLLER FOR POSITION CONTROL OF CABLE-DRIVEN PARALLEL ROBOTS USING VISUAL SERVOING. MODARES MECHANICAL ENGINEERING[Internet]. 2016;15(12):63-74. Available from: https://sid.ir/paper/179921/en

IEEE: Copy

HASSAN BAYANI, MEHDI TALE MASOULEH, and AHMAD KALHOR, “PRACTICAL PERFORMANCE COMPARISON OF POLE PLACEMENT AND SLIDING MODE CONTROLLER FOR POSITION CONTROL OF CABLE-DRIVEN PARALLEL ROBOTS USING VISUAL SERVOING,” MODARES MECHANICAL ENGINEERING, vol. 15, no. 12, pp. 63–74, 2016, [Online]. Available: https://sid.ir/paper/179921/en

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