Research on cable force control of cable-driven parallel robot

An active compliant force controller based on fuzzy PID is designed to solve the problem of cable force control of a 6- DOF cable-driven parallel robot with eight cables. Firstly, the kinematics model of the moving platform is established and the dynamics equation is deduced. Secondly, the distribution of cable tension is optimized and the trajectory of the moving platform is planned. MATLAB/Simulink/xPC tools were used to carry out real-time simulation results to realize the dynamic operation of the parallel robot in the circular trajectory space. Finally, the classical PID control and fuzzy PID control are used for simulation, and the rationality of the designed cable force controller is verified by the simulation results.