Research on workspace visual-based continuous switching sliding mode control for cable-driven parallel robots

Achieving the high-precision control of cable-driven parallel robots (CDPRs) is complex because of their structural properties. In this paper, a quintessential redundant CDPR is designed as the research subject, and a continuous switching sliding mode controller based on workspace vision is implemen...

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Veröffentlicht in:	Robotica Jg. 42; H. 1; S. 1 - 20
Hauptverfasser:	Qian, Sen, Zhao, Zeyao, Qian, Pengfei, Wang, Zhengyu, Zi, Bin
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Cambridge, UK Cambridge University Press 01.01.2024
Schlagworte:	Accuracy Additive manufacturing Algorithms Cables Control algorithms Control systems design Control theory Kinematics Mathematical models Methods Motion control Robot control Robots Simulation Sliding mode control Switching Systems stability Tracking errors Virtual prototyping Simulink-ADAMS co-simulation motion control sliding mode control Cable-driven parallel robot trajectory tracking
ISSN:	0263-5747, 1469-8668
Online-Zugang:	Volltext
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