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  Application of a Differentiator-Based Adaptive Super-Twisting Controller for a Redundant Cable-Driven Parallel Robot

Schenk, C., Masone, C., Pott, A., & Bülthoff, H. (2017). Application of a Differentiator-Based Adaptive Super-Twisting Controller for a Redundant Cable-Driven Parallel Robot. In C. Gosselin, P. Cardou, T. Bruckmann, & A. Pott (Eds.), Cable-Driven Parallel Robots (pp. 254-267). Cham, Switzerland: Springer International Publ.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0000-C399-7 Version Permalink: http://hdl.handle.net/21.11116/0000-0000-C39A-6
Genre: Conference Paper

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 Creators:
Schenk, C1, 2, 3, Author              
Masone, C2, Author              
Pott, A, Author
Bülthoff, HH1, 2, 3, Author              
Affiliations:
1Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              
2Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
3Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

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 Abstract: In this paper we present preliminary, experimental results of an Adaptive Super-Twisting Sliding-Mode Controller with time-varying gains for redundant Cable-Driven Parallel Robots. The sliding-mode controller is paired with a feed-forward action based on dynamics inversion. An exact sliding-mode differentiator is implemented to retrieve the velocity of the end-effector using only encoder measurements with the properties of finite-time convergence, robustness against perturbations and noise filtering. The platform used to validate the controller is a robot with eight cables and six degrees of freedom powered by 940W compact servo drives. The proposed experiment demonstrates the performance of the controller, finite-time convergence and robustness in tracking a trajectory while subject to external disturbances up to approximately 400 the mass of the end-effector.

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 Dates: 2017-08
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.10072F978-3-319-61431-1_22
BibTex Citekey: SchenkMPB2017
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Title: Third International Conference on Cable-Driven Parallel Robots (CableCon 2017)
Place of Event: Quebec City, Canada
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Title: Cable-Driven Parallel Robots
Source Genre: Proceedings
 Creator(s):
Gosselin, C., Editor
Cardou, P., Editor
Bruckmann, T., Editor
Pott, A., Editor
Affiliations:
-
Publ. Info: Cham, Switzerland : Springer International Publ.
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 254 - 267 Identifier: ISBN: 978-3-319-61430-4