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 December 12, 2024)
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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,
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
Pub Type
Journals
Download Paper
Keywords
cargo transfer, crane ship, dynamics, modeling, robust control, two stage cable robot
Citation
Issues
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Created December 30, 2004, Updated October 12, 2021