Dynamic modeling and robust controller design of a two-stage parallel cable robot

被引：23
|
作者：
Oh, SR [1 ]
Mankala, KK
Agrawal, SK
Albus, JS
机构：
[1] Univ Delaware, Newark, DE 19716 USA
[2] NIST, Gaithersburg, MD USA
来源：
MULTIBODY SYSTEM DYNAMICS | 2005年 / 13卷 / 04期
基金：
美国国家科学基金会;
关键词：
dynamics; modeling; two-stage cable robot; robust control; crane ship; cargo transfer;
D O I：
10.1007/s11044-005-2517-8
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
Cable robots have been extensively used for the loading and unloading of cargo in shipping industries. In this paper, we look at a two stage cable robot, i.e., a cable robot with two moving platforms connected in series. The sea condition introduces disturbance into the system. This disturbance is considered while modeling the dynamics of the two stage cable robot. A robust controller is designed which can assure robust tracking of the desired end-effector trajectory in the presence of the disturbance. Simulation results presented show the effectiveness of the controller.
引用
收藏
页码：385 / 399
页数：15
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