Research on a 3-DOF Planar Cable-Driven Parallel Robot Based on Fuzzy Adaptive PD Computed Torque Control

摘要

Abstract Cable-driven parallel robots (CDPR) with spatial configuration are widely used while ones with plannar configuration are rarely applied. Therefore, this paper studies the modeling and control characteristics of a three degree-of-freedom cable-driven planar parallel robot with great application prospects. Aiming at the shortcomings of the existing control methods towards CDPR, a new method based on fuzzy adaptive PD computing torque control is proposed which contains a reasonable optimal distribution of cable forces. To validate the method, the tracking control simulation research and analysis are carried out for the trajectory of high-order interpolation planning, the results of which show that the control method has favorable dynamic tracking accuracy and mechanical properties. Moreover, compared with the fixed-gain computed torque control, the proposed control method can overcome the influence of model inaccuracy more effectively.