Dynamics and input-output feedback linearization control of a wheeled mobile cable-driven parallel robot

DOI10.1007/S11044-016-9543-6zbMath1386.70024OpenAlexW2526519744MaRDI QIDQ1699609

S. Manteghi, Mehrdad Yousefzadeh, Moharam Habibnejad Korayem

Publication date: 23 February 2018

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-016-9543-6

zbMATH Keywords

trajectory planningcable-driven parallel robotswheeled mobile robotsnon-holonomic constraintsinput-output feedback linearizationGibbs-Appel formula

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

Adaptive PID-fractional-order nonsingular terminal sliding mode control for cable-driven manipulators using time-delay estimation

Cites Work

• Dynamic modeling and wind vibration control of the feed support system in FAST
• Design, analysis and realization of tendon-based parallel manipulators
• Optimal motion planning of non-linear dynamic systems in the presence of obstacles and moving boundaries using SDRE: application on cable-suspended robot
• Dynamic modeling and robust controller design of a two-stage parallel cable robot
• Dynamics and stability of a hybrid serial-parallel mobile robot

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