Document Type: Original Research Paper


K. N. Toosi University of Technology


Fast-tracking of reference trajectory and performance improvement in the presence of dynamic and kinematic uncertainties is of paramount importance in all robotic applications. This matter is even more important in the case of cable-driven parallel robots due to the flexibility of the cables. Furthermore, cables are limited in the sense that they can only apply tensile forces, for this reason, feedback control of such robots becomes more challenging than conventional parallel robots. To address these requirements for a suspended cable-driven parallel robot, in this paper a novel adaptive fast terminal sliding mode controller is proposed and then the stability of the closed-loop system is proven. In the proposed controller, a nonlinear term as a fractional power term is used to guarantee the convergent response at a finite time. At last, to show the effectiveness of the proposed controller in tracking the reference trajectory, simulations and the required experimental implementation is performed on a suspended cable-driven robot. This robot, named ARASCAM, has three degrees of transmission freedom. The obtained results confirm the suitable performance of this method for cable robots.

Graphical Abstract


Main Subjects

[1] S. Kawamura, H. Kino, and C. Won, “High-speed manipulation by using parallel wire-driven robots,” Robotica, vol. 18, no. 3, pp. 13-21, 2000.

[2] H. D. Taghirad and M. Nahon,Kinematic, “Analysis of a macromicro redundantly actuated parallel manipulator,” Advanced Robotics, vol. 22, no. 6-7, pp. 657-87, 2008.

[3] S. A. Khalilpour, R. Khorrambakht, H. D. Taghirad, and P. Cardou, “Wave based control of a deployable cable driven robot” in Proc. 6th RSI International Conference on Robotics and Mechatronics (IcRoM), pp. 166-171, 2018.

[4] D. Q. Nguyen, M. Gouttefarde, O. Company, and F. Pierrot, “On the analysis of large-dimension reconfigurable suspended cable-driven parallel robots,” in Proc. The IEEE International Conference on Robotics and Automation, pp. 5728–5735, 2014.

[5] L. Cone, Skycam: An aerial robotic camera system. Byte, vol. 10, pp. 122132, 1985.

[6] J. Lenarcic and M. Stanisic, Advances in Robot Kinematics: Motion in Man and Machine, Springer, 2010.

[7] R. Verhoeven, M. Hiller, and S. Tadokoro, “Workspace, stiffness, singularities and classification of tendon-driven Stewart platforms,” Advances in Robot Kinematics: Analysis and Control, pp. 105–114, 1998.

[8] R. Bostelman, J. Albus, N. Dagalakis, A. Jacoff, and J. Gross, “Applications of the NIST robocrane,” in Proc. The 5th International Symposium on Robotics and Manufacturing, pp. 14–18, 1994.

[9] S. Khalilpour, R. Khorrambakht, M. Harandi, H. D. Taghirad, and P. Cardou, “Robust dynamic sliding mode control of a deployable cable driven robot,” in Proc. Iranian Conference on Electrical Engineering (ICEE), pp. 863–868, 2018.

[10] S. Qian, B. Zi, and H. Ding, “Dynamics and trajectory tracking control of cooperative multiple mobile cranes,” Nonlinear Dynamics, vol. 83, no. 1-2, pp. 89–108, 2016.

[11] S. A. Khalilpour, R. Khorrambakht, H. D. Taghirad, and P. Cardou, “Robust cascade control of a deployable cable-driven robot,” Journal of Mechanical Systems and Signal Processing, vol. 127, pp. 513-530, 2019.

[12] R. Babaghasabha, M. A. Khosravi, and H. D. Taghirad, “Adaptive control of KNTU planar cable-driven parallel robot with uncertainties in dynamic and kinematic parameters,” CableDriven Parallel Robots, pp. 145–159, 2015.

[13] S. Ding, S. Li, and W. X. Zheng, “Brief paper: new approach to second order sliding mode control design,” IET Control Theory & Applications, vol. 7, no. 18, pp. 2188–2196, 2013.

[14] T.-H. S. Li and Y.-C. Huang, “MIMO adaptive fuzzy terminal sliding mode controller for robotic manipulators,” Information Sciences, vol. 180, no. 23, pp. 4641–4660, 2010.

[15] Z. Song, H. Li, and K. Sun, “Finite-time control for nonlinear spacecraft attitude based on terminal sliding mode technique,” ISA Transactions, vol. 53, no. 1, pp. 117–124, 2014.

[16] G. Yang, Y. Jia, M. Qin, and Y. Fang “Research of low voltage shore power supply used on shipping based on sliding control,” Journal of Electrical and Computer Engineering Innovations, vol. 5, no. 2, pp. 101-108, 2017.

[17] M. Keshavarz and M. H. Shafiei, “Design of a novel framework to control nonlinear affine systems based on fast terminal sliding mode controller,” Journal of Electrical and Computer Engineering Innovations, vol. 5, no. 2, pp. 101-108, 2017.

[18] Y. Wu, B. Wang, and G. Zong, “Finite-time tracking controller design for nonholonomic systems with extended chained form,” IEEE Transactions on Circuits and Systems II: Express Briefs, vol. 52, no. 11, pp. 798–802, 2005.

[19] X. Yu and M. Zhihong, “Fast terminal sliding-mode control design for nonlinear dynamical systems,” IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications, vol. 49, no. 2, pp. 261–264, 2002.

[20] H. D. Taghirad, Parallel robots: mechanics and control. CRC press, 2013.

[21] K. Saoudi and M. Harmas, “Enhanced design of an indirect adaptive fuzzy sliding mode power system stabilizer for multimachine power systems,” International Journal of Electrical Power & Energy Systems, vol. 54, pp. 425–431, 2014.

[22] S. Yu, G. Guo, Z. Ma, and J. Du, “Global fast terminal sliding mode control for robotic manipulators,” International Journal of Modelling, Identification and Control, vol. 1, no. 1, pp. 72–79, 2006.

[23] M. Gouttefarde, J.-P. Merlet, and D. Daney, “Wrench-feasible workspace of parallel cable-driven mechanisms,” in Proc. 2007 IEEE International Conference on Robotics and Automation, pp. 1492–1497, 2007.