Experimental study on the control of a suspended cable-driven parallel robot for object tracking purpose

摘要

Abstract In this paper, control of a suspended cable-driven parallel robot has been experimentally investigated based on the dynamic model of the robot for object tracking purpose. In order to improve the tracking ability of the robot, three control approaches, namely kinematic PID, dynamic PD, and a kinematic sliding mode control (SMC), have been implemented, both on the Simscape and on the robot constructed at the Human and Robot Interaction Laboratory. Neural network controller and dynamic SMC have been implemented on the Simscape model. Afterward, the effectiveness of each approach has been investigated by employing the root mean square error (RMSE) index. Simulation and experimental results reveal the ability of each controller for precise and smooth control. For precise and real-time object tracking, YOLOv5-s and YOLOv4-tiny model are trained. By comparing the obtained index values, the kinematic PID demonstrates the best performance with the maximum RMSE value of 0.018 compared to other methods.