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Dynamic Modeling and Robust Controller Design of a Two-Stage Parallel Cable Robot

Published

Author(s)

S R. Oh, K K. Mankala, S K. Agrawal, James S. Albus

Abstract

Able robots have been extensively used for the loading and unloading of cargo in shipping industries. In this paper, we look at a two stage cable robot, i.e., a cable robot with two moving platforms connected in series. The sea condition introduces disturbance into the system. This disturbance is considered while modeling the dynamics of the two stage cable robot. A robust controller is designed which can assure robust tracking of the desired end-effector trajectory in the presence of the disturbance. Simulation results presented show the effectiveness of the controller.
Citation
Multi-Body Dynamics

Keywords

cargo transfer, crane ship, dynamics, modeling, robust control, two stage cable robot

Citation

Oh, S. , Mankala, K. , Agrawal, S. and Albus, J. (2004), Dynamic Modeling and Robust Controller Design of a Two-Stage Parallel Cable Robot, Multi-Body Dynamics, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823489 (Accessed June 22, 2024)

Issues

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Created December 30, 2004, Updated October 12, 2021