Using Pose-Dependent Model Predictive Control for Path Tracking with Bounded Tensions in a 3-DOF Spatial Cable Suspended Parallel Robot
Abstract
:1. Introduction
2. Dynamic Model of the Suspended Load
3. Control Design
3.1. Control Architecture
3.2. Model Formulation for Control Design
3.3. Calculation of the Optimal Tensions
3.4. Calculation of Motor Torques
4. Numerical Results
4.1. Description of the Test Case
4.2. Test Cases
4.2.1. Test 1: Point-to-Point Motion through a Position Step Reference
4.2.2. Test 2: Circular Path
4.2.3. Test 3: Gerono’s Lemniscate Path
4.2.4. Test 4: Straight Line
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
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Bettega, J.; Richiedei, D.; Trevisani, A. Using Pose-Dependent Model Predictive Control for Path Tracking with Bounded Tensions in a 3-DOF Spatial Cable Suspended Parallel Robot. Machines 2022, 10, 453. https://doi.org/10.3390/machines10060453
Bettega J, Richiedei D, Trevisani A. Using Pose-Dependent Model Predictive Control for Path Tracking with Bounded Tensions in a 3-DOF Spatial Cable Suspended Parallel Robot. Machines. 2022; 10(6):453. https://doi.org/10.3390/machines10060453
Chicago/Turabian StyleBettega, Jason, Dario Richiedei, and Alberto Trevisani. 2022. "Using Pose-Dependent Model Predictive Control for Path Tracking with Bounded Tensions in a 3-DOF Spatial Cable Suspended Parallel Robot" Machines 10, no. 6: 453. https://doi.org/10.3390/machines10060453