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Frontiers of Mechanical Engineering

ISSN 2095-0233

ISSN 2095-0241(Online)

CN 11-5984/TH

Postal Subscription Code 80-975

2018 Impact Factor: 0.989

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Front. Mech. Eng.    2015, Vol. 10 Issue (4) : 344-351    https://doi.org/10.1007/s11465-015-0364-8
RESEARCH ARTICLE
Linear quadratic optimal controller for cable-driven parallel robots
Saeed ABDOLSHAH1,*(),Erfan SHOJAEI BARJUEI2
1. Department of Management and Engineering, University of Padua, Padua, Italy
2. Department of Electric, Managerial and Mechanical Engineering, University of Udine, Udine, Italy
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Abstract

In recent years, various cable-driven parallel robots have been investigated for their advantages, such as low structural weight, high acceleration, and large workspace, over serial and conventional parallel systems. However, the use of cables lowers the stiffness of these robots, which in turn may decrease motion accuracy. A linear quadratic (LQ) optimal controller can provide all the states of a system for the feedback, such as position and velocity. Thus, the application of such an optimal controller in cable-driven parallel robots can result in more efficient and accurate motion compared to the performance of classical controllers such as the proportional-integral-derivative controller. This paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven parallel robot (Feriba-3) is developed. The synthesis of the LQ optimal control is described, and the significant experimental results are presented and discussed.
Keywords accuracy      cable-driven parallel robot      linear quadratic optimal control     
Corresponding Author(s): Saeed ABDOLSHAH   
Online First Date: 26 November 2015    Issue Date: 03 December 2015
 Cite this article:   
Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI. Linear quadratic optimal controller for cable-driven parallel robots[J]. Front. Mech. Eng., 2015, 10(4): 344-351.
 URL:  
https://academic.hep.com.cn/fme/EN/10.1007/s11465-015-0364-8
https://academic.hep.com.cn/fme/EN/Y2015/V10/I4/344
Fig.1  The Feriba-3 cable-driven parallel robot. (a) Overall view; (b) statics diagram
Fig.2  Block diagram of the control system
Fig.3  Comparison of the open-loop and the LQ optimal controller for position of circular reference trajectory (X-Y plane) tracking for (a) X-axis, (b) Y-axis, and (c) sinusoidal rotation θ; The reference tracking error for the LQ optimal controller in terms of (d) X-axis, (e) Y-axis and (f) sinusoidal rotation θ
Fig.4  Comparison of the open-loop and the LQ optimal controller for trapezoidal reference trajectory for (a) X-axis, (b) Y-axis, and (c) sinusoidal rotation θ; the reference tracking error for the LQ optimal controller in terms of (d) X-axis, (e) Y-axis and (f) sinusoidal rotation θ
Fig.5  Cable tension in four cables for circular reference trajectory (X-Y plane) and sinusoidal rotation
Fig.6  Cable tension in four cables for trapezoidal trajectory and sinusoidal rotation
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