Modeling and control of cable driven parallel manipulators with elastic cables: Singular perturbation theory

Abstract

This paper presents a new approach to the modeling and control of cable driven parallel manipulators and particularly KNTU CDRPM. First, dynamical model of the cable driven parallel manipulator is derived considering the elasticity of the cables, and then this model is rewritten in the standard form of singular perturbation theory. This theory used here as an effective tool for modeling the cable driven manipulators. Next, the integrated controller, applied for control of the rigid model of KNTU CDRPM in previous researches, is improved and a composite controller is designed for the elastic model of the robot. Asymptotic stability analysis of the proposed rigid controller is studied in detail. Finally, a simulation study performed on the KNTU CDRPM verifies the closed-loop performance compared to the rigid model controller. © 2011 Springer-Verlag.