Cart (Loading....) | Create Account
Close category search window
 

The feasible workspace analysis of a set point control for a cable-suspended robot with input constraints and disturbances

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
So-Ryeok Oh ; with the Mech. Eng. Dept., Univ. of Delaware, Newark, DE, USA ; Agrawal, S.K.

This paper deals with the characterization of reachable domain of a set-point controller for a cable-suspended robot under disturbances and input constraints. The main contribution of the paper is to calculate the feasible domain analytically through the choice of a control law, starting from a given initial condition. This analytical computation is then recursively used to find a second feasible domain starting from a boundary point of the first feasible domain. Hence, this procedure allows to expand the region of feasible reference signals by connecting adjacent domains through common points. Finally, the effectiveness of the proposed method is illustrated by numerical simulations on a kinematically determined cable robot with six cables.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:14 ,  Issue: 4 )

Date of Publication:

July 2006

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.