Dynamics and input-output feedback linearization control of a wheeled mobile cable-driven parallel robot

DOI10.1007/S11044-016-9543-6MaRDI QIDQ1699609zbMATH OpenOpenAlexFDO

Authors S. Manteghi, M. H. Korayem, Mehrdad Yousefzadeh

Publication date 23 February 2018

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-016-9543-6

zbMATH Keywords

cable-driven parallel robotsGibbs-Appel formulainput-output feedback linearizationnon-holonomic constraintstrajectory planningwheeled mobile robots

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Linearizations (93B18) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Design, analysis and realization of tendon-based parallel manipulators
• Dynamic modeling and robust controller design of a two-stage parallel cable robot
• Dynamic modeling and wind vibration control of the feed support system in FAST
• Dynamics and stability of a hybrid serial-parallel mobile robot
• Optimal motion planning of non-linear dynamic systems in the presence of obstacles and moving boundaries using SDRE: application on cable-suspended robot

Cited in

(2)

• Adaptive PID-fractional-order nonsingular terminal sliding mode control for cable-driven manipulators using time-delay estimation
• Kinematics, statics modeling and workspace analysis of a cable-driven hybrid robot

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