Comparison performance between PID and PD controllers for three and four cable-based robots

摘要

Cable-based Robots are new type of parallel robots that use cables instead of metallic cylinders. They have good properties that can be used for various applications. The main objective of this work is: the first is to use the direct and inverse geometric model to study and simulate the end effector position of the robot with three and four cables. A graphical user interface has been implemented in order to visualizing the position of the robot. Secondly, we present the determination of static and dynamic tensions and lengths of cables required to flow different trajectories. At the end, we study the response of our systems in closed loop with a Proportional-Integrated-Derivative (PID) and Proportional-Integrated (PD) controllers then this last are compared the results for the same examples using MATLAB/Simulink.; we found that the PID method gives the better performance, such as rapidly speed response, settling time, compared to PD controller.