Jerk-Limited Time-Optimal Model Predictive Path Following Control of Cable-Driven Parallel Robots

Motion planning and control of cable-driven parallel robots (CDPRs) suffer from difficulties imposed by the flexibility and unilateral property of cables. In contrast to trajectory tracking control which has been extensively studied, path following control of CDPRs has been seldom addressed in exist...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 8; no. 10; pp. 6731 - 6738
Main Authors:	Wang, Ruobing, Li, Yangmin
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.10.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Cables Heuristic algorithms Iterative methods Linear quadratic regulator motion control Motion planning Optimization optimization and optimal control Parallel robots Planning Predictive control Predictive models Robot control Robot dynamics Robots Smoothness Time optimal control Timing Tracking control Trajectory Trajectory control Trajectory planning Trajectory tracking
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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