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.


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    Titel :

    A Motion Control Method of Cable-Driven Manipulators Based on Model Predictive Control


    Weitere Titelangaben:

    Lect. Notes in Networks, Syst.


    Beteiligte:
    Wang, Hai (Herausgeber:in) / Wen, Tingyan (Autor:in) / Wu, Yihao (Autor:in) / Yang, Haotian (Autor:in) / Tan, Junbo (Autor:in) / Wang, Xueqian (Autor:in)

    Kongress:

    International Conference on Advanced Robotics, Control, and Artificial Intelligence ; 2024 ; Perth, Australia December 09, 2024 - December 12, 2024



    Erscheinungsdatum :

    22.05.2025


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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