A modularized cable-suspended robot: Implementation and oscillation suppression control

作者：Lin Jonqlan; Liao Guan Ting

来源：Proceedings of the Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering, 2016, 230(9): 1030-1043.

DOI：10.1177/0959651816662157

<jats:p> Cable-suspended robots are categorized as a style of parallel manipulator that has appealed interest for manipulation jobs. This article presents a design for a cable-suspended robot system with oscillation suppression control. The major benefits of the system design are as follows: modular, transportable, reconfigurable, and easy to install. This robotic system consists of the main object, which is a suspended platform and a cable winch that maneuvers the main object by regulating cable lengths. Furthermore, this study presents a combined control module to serve as an associate controller to stabilize the system. The associate controller positions and oscillates the suppression properties by integration feedback control with the shaping signals. The fuzzy controller is rule based and constructed based on associate controller performance-related knowledge to act as a controller. Accordingly, the proposed control scheme effectively reduces cable oscillation, especially when fuzzy control methodology is applied. The broad variety of problems deliberated in this study can be applied to assembly, automation, and large-scale manufacturing that requires a cable-suspended system. </jats:p>

• 出版日期2016-10