What is it about?
This paper deals with a 6 DOF cali-driven root system available at Strasbourg. We presents the derivation of the system equations, the parameter estimation and the synthesis of a H-infinity controller.
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Why is it important?
H-infinity controllers allow to deal with flexible multivariable systems and therefore, that can help for controlling a cable robot. However, finding the right tuning was not that easy compared to my previous experiences as we had to reinforce the perturbation rejection properties.
Perspectives
To the best of my knowledge, this paper is the first one to report experimental results of a H-infinity controller on a cable robot.
Edouard Laroche
Universite de Strasbourg
Read the Original
This page is a summary of: Model identification and vision-based H∞ position control of 6-DoF cable-driven parallel robots, International Journal of Control, September 2016, Taylor & Francis,
DOI: 10.1080/00207179.2016.1220623.
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