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Title: Adaptive control for a cable driven robot arm
Authors: Ma, J.
Li, Y.
Ge, S.S. 
Keywords: adaptive control
cable driven
robot control
Issue Date: 2012
Citation: Ma, J.,Li, Y.,Ge, S.S. (2012). Adaptive control for a cable driven robot arm. 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 : 1074-1079. ScholarBank@NUS Repository.
Abstract: The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.
Source Title: 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
ISBN: 9781467312776
DOI: 10.1109/ICMA.2012.6283399
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