Numerous motion control methods for the cable-driven manipulator exist, including fuzzy PID control, adaptive control, and PID control. However, challenges include managing complicated parameters and attaining optimal control in systems with multiple inputs and outputs. Using a 7-DOF cable-driven manipulator as an example, we will analyze the overall structure of the manipulator and provide the forward and inverse kinematic models of its three spaces: operation space, joint space, and cable-driven space. In contrast to the PID motion control method, a sophisticated control method called Model Predictive Control (MPC) is introduced to meet the more complex robotic arm motion control needs. The correctness of the algorithm is verified in Matlab using a spatial arc as the desired trajectory.
A Motion Control Method of Cable-Driven Manipulators Based on Model Predictive Control
Lect. Notes in Networks, Syst.
International Conference on Advanced Robotics, Control, and Artificial Intelligence ; 2024 ; Perth, Australia December 09, 2024 - December 12, 2024
Proceedings of the First International Conference on Advanced Robotics, Control, and Artificial Intelligence ; Kapitel : 71 ; 890-902
22.05.2025
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Motion control , Model Predictive Control , Trajectory planning , Cable-driven manipulators Artificial Intelligence , Signal, Image and Speech Processing , Engineering , Cyber-physical systems, IoT , Control, Robotics, Mechatronics , User Interfaces and Human Computer Interaction , Professional Computing
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