Design and oscillation suppression control for cable-suspended robot

摘要

This paper presents a new design for a cable-suspended robot system with oscillation suppression control. The major benefits of the system design are as follows: modular, transportable, reconfigurable, and easy to install. This robotic system consists of the main body, which is a suspended platform and a cable winch that maneuvers the main body by adjusting cable lengths. Furthermore, this study presents a combined control module to serve as an assistant controller to stabilize the system. The assistant controller positions and oscillates the suppression properties by merging feedback control with the shaping commands. The fuzzy controller is rule based and constructed based on assistant controller performance-related knowledge to act as an intelligent controller. Consequently, the proposed control scheme effectively reduces cable oscillation, especially when fuzzy control methodology is introduced. The broad range of problems discussed in this research can be applied to construction, automation, and large-scale manufacturing that requires a cable-suspended system.