文章基本信息

标题：Model-Based Control of a Pendulum by a 3-DoF Cable Robot Using Exact Linearization
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作者：Marcus Hamann ; David Winter ; Christoph Ament 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：9053-9060
DOI：10.1016/j.ifacol.2020.12.2130
语种：English
出版社：Elsevier
摘要：AbstractIn this paper we present the modeling and control of a pendulum by a cable robot. The control is based on an exact linearization of the nonlinear MIMO system. The resulting closed-loop system is subsequently extended by a pendulum damping. The pose of the pendulum is determined by the connection point of the cables at the pendulum and a reflector at the end of the pendulum. Due to the model-based control and the capability of an external absolute measurement of the reflector by means of laser trackers, a high positioning accuracy is achievable, which is unique in the field of cable robots.
关键词：Keywordsroboticscable robotmodelinglagrangian mechanicscontrolexact linearizationpendulum damping