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This paper presents the implementation of a vision-based position control for planar cable-driven parallel robots. The main contribution of this paper contains three objectives. First, a method is used toward kinematic modeling of the robot using four-bar linkage kinematic concept, which could be used in online control approaches for real-time purposes. In order to ensure positive tension in cables,...
The main concern of this paper is modeling and control of a cable-suspended parallel robot. Alongside lots of benefits, a major open issue in the design of these robots is ensuring tensile cable forces for any admissible motion. The latter problem is particularly challenging when under-constrained configurations are considered. In this paper kinematics, statics and dynamics model of the cable-suspended...
This paper presents different classical control approaches for planar cable-driven parallel robots. For the proposed robot, PD and PID controllers are designed based on the concept of pole placement method. In order to optimize and tune the controller parameters of planar cable-driven parallel robot, Differential Evaluation, Particle Swarm Optimization and Genetic algorithms are applied as optimization...
This paper presents a novel spherical rolling robot and the design procedure of an adaptive sliding mode controller for the proposed robot. Towards containing the uncertainties, the sliding mode controller is utilized and simulation tests represent the effectiveness of this method. However, the chattering phenomenon in the robot operation is the main insufficiency of this controller. Hence, in order...
In the recent years, design of robust and effective speaker verification algorithms has attracted significant research effort from academic and commercial institutions. Speaker verification is a procedure that uses voice properties to prove the identity of person. Speaker verification solutions offer a highly accurate and efficient method of authenticating a person's identity by analyzing his/her...
This paper deals with determining the maximal regions within the Wrench-Feasible Workspace (WFW) of cable-driven parallel robots using convex optimization. In this regard, an approach is proposed in order to obtain the maximal-area ellipse and the maximal-volume ellipsoid within the wrench feasible workspace of the planar and spatial cable-driven parallel robots respectively, using convex optimization...
Increasing demands for autopilot systems in order to help pilots in every kind of maneuver and avionics caused great researches and investments in this area. One of the most important fields in design and fabrication of the autopilots is control system design. Since these systems are simulators of an experienced pilot commands, we have to find a way in order to omit pilot wrong decisions in any kind...
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