Towards Cable Parallel Robot Simulation for Control End Effector Position

Towards Cable Parallel Robot Simulation for Control End Effector Position

Cable driven robot, Robustness, generalized predictive control, GUI.

In this paper, we present a Graphical User Interface (GUI) simulator that has been developed using robust generalize predictive control. The proposed control technique is used for dealing with linear system uncertainties. The main contribution of this work is firstly: a graphical user interface has been developed and implemented based on geometric model , in order to, control the position of the end effector with several spatial tests. Secondly, we study the response of differential equations for our system with the proposed control for different trajectories in order to test the accurate tracking of the robot for desired trajectory simulation using MATLAB/Simulink. The Simulation results are carried out to prove the feasibility and effectiveness of the strategy outlined here.

Fouad INEL

www.ijcit.com

May 2020

peri irawan

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