3D cable-based parallel robot simulation using PD control
In this paper, we present a simulator that has been developed using PD control to study 3D cable-based parallel robot with four cables. The proposed control technique is widely used for dealing with linear systems uncertainties, in this context; we investigated to use the Runge Kutta method of 4th o...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
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IOP Publishing
2020
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/28820/ http://umpir.ump.edu.my/id/eprint/28820/1/3D%20cable-based%20parallel%20robot%20simulation%20using%20PD%20control.pdf |
| _version_ | 1848823143159824384 |
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| author | Inel, F. M. M., Noor |
| author_facet | Inel, F. M. M., Noor |
| author_sort | Inel, F. |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | In this paper, we present a simulator that has been developed using PD control to study 3D cable-based parallel robot with four cables. The proposed control technique is widely used for dealing with linear systems uncertainties, in this context; we investigated to use the Runge Kutta method of 4th order for solving non-linear partial differential equations of our system. The main contribution of this work is firstly: modelling of differential equations of our system. Secondly, the PD control applied to the dynamic model for different trajectories in order to test the accurate tracking of the robot to a desired trajectory. The effectiveness of the proposed control strategy is improving the robot performance in terms of tracking a desired path. |
| first_indexed | 2025-11-15T02:52:27Z |
| format | Conference or Workshop Item |
| id | ump-28820 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:52:27Z |
| publishDate | 2020 |
| publisher | IOP Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-288202020-07-20T06:54:55Z http://umpir.ump.edu.my/id/eprint/28820/ 3D cable-based parallel robot simulation using PD control Inel, F. M. M., Noor TJ Mechanical engineering and machinery In this paper, we present a simulator that has been developed using PD control to study 3D cable-based parallel robot with four cables. The proposed control technique is widely used for dealing with linear systems uncertainties, in this context; we investigated to use the Runge Kutta method of 4th order for solving non-linear partial differential equations of our system. The main contribution of this work is firstly: modelling of differential equations of our system. Secondly, the PD control applied to the dynamic model for different trajectories in order to test the accurate tracking of the robot to a desired trajectory. The effectiveness of the proposed control strategy is improving the robot performance in terms of tracking a desired path. IOP Publishing 2020 Conference or Workshop Item PeerReviewed pdf en cc_by http://umpir.ump.edu.my/id/eprint/28820/1/3D%20cable-based%20parallel%20robot%20simulation%20using%20PD%20control.pdf Inel, F. and M. M., Noor (2020) 3D cable-based parallel robot simulation using PD control. In: IOP Conference Series: Materials Science and Engineering, 5th International Conference on Mechanical Engineering Research (ICMER 2019) , 30-31 July 2019 , Kuantan, Malaysia. pp. 1-12., 788 (012069). ISSN 1757-899X (Published) https://doi.org/10.1088/1757-899X/788/1/012069 |
| spellingShingle | TJ Mechanical engineering and machinery Inel, F. M. M., Noor 3D cable-based parallel robot simulation using PD control |
| title | 3D cable-based parallel robot simulation using PD control |
| title_full | 3D cable-based parallel robot simulation using PD control |
| title_fullStr | 3D cable-based parallel robot simulation using PD control |
| title_full_unstemmed | 3D cable-based parallel robot simulation using PD control |
| title_short | 3D cable-based parallel robot simulation using PD control |
| title_sort | 3d cable-based parallel robot simulation using pd control |
| topic | TJ Mechanical engineering and machinery |
| url | http://umpir.ump.edu.my/id/eprint/28820/ http://umpir.ump.edu.my/id/eprint/28820/ http://umpir.ump.edu.my/id/eprint/28820/1/3D%20cable-based%20parallel%20robot%20simulation%20using%20PD%20control.pdf |