3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control

H. Kino, T. Yoshitake, R. Wada, K. Tahara, K. Tsuda

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)

Abstract

This paper has proposed a parallel-wire driven robot (PWDR) with an active balancer, which is notably useful for such applications as ceiling maintenance and object conveyance near a ceiling in a factory. Because this robot is an under-actuated system, the uncertainty of the inertial parameters of the load strongly affects the resultant motion and reduces the control accuracy because of the dynamics interference. However, to date, the dynamics of this robot has not been thoroughly elucidated. Thus, this study analyzes the dynamics of a PWDR that controls three degree-of-freedom using two wires and an active balancer. Moreover, based on the dynamic analysis, a model-based adaptive controller for the parameter uncertainty of a load is proposed, and its effectiveness is demonstrated through simulation.

Original languageEnglish
Pages (from-to)766-777
Number of pages12
JournalAdvanced Robotics
Volume32
Issue number14
DOIs
Publication statusPublished - Jul 18 2018

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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