Adaptive sliding mode control of a novel cable driven robot model

Abstract

In this paper, we propose an adaptive sliding mode control strategy for a 3D cable-driven parallel robot. The proposed control technique is widely used for dealing with nonlinear systems uncertainties and for improving the robot performance in terms of tracking a desired path. The main contribution of this work is firstly: the graphical user interface (GUI) witch presents a point-to-point command, thus by the visualization of the end-effector position. Secondly, the sliding mode control is modeling for applied to the dynamic model for different trajectories in order to test the accurate tracking of the robot to a desired path. The effectiveness of the proposed control strategy is demonstrated through different simulation results.

Keywords

• cable driven robot
• modeling
• sliding mode
• gui
• position control
• robustness