| contributor author | So-Ryeok Oh | |
| contributor author | James S. Albus | |
| contributor author | Kalyan Mankala | |
| contributor author | Sunil K. Agrawal | |
| date accessioned | 2017-05-09T00:17:14Z | |
| date available | 2017-05-09T00:17:14Z | |
| date copyright | July, 2005 | |
| date issued | 2005 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27807#612_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/132308 | |
| description abstract | Cable robots have potential usage for loading and unloading of cargo in shipping industries. A novel six-degrees-of-freedom two-stage cable robot has been proposed by NIST for skin-to-skin transfer of cargo. In this paper, we look at a planar version of this two-stage cable robot. The disturbance motion from the sea is considered while modeling the dynamics of robot. The problem of robust control of the end-effector in the presence of unknown disturbances, along with maintaining positive tensions in the cables, is tackled using redundancy of cables in the system. Simulation results show the effectiveness of the control strategy. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Dual-Stage Planar Cable Robot: Dynamic Modeling and Design of A Robust Controller with Positive Inputs | |
| type | Journal Paper | |
| journal volume | 127 | |
| journal issue | 4 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.1899689 | |
| journal fristpage | 612 | |
| journal lastpage | 620 | |
| identifier eissn | 1528-9001 | |
| keywords | Control equipment | |
| keywords | Motion | |
| keywords | Robots | |
| keywords | Cables | |
| keywords | End effectors | |
| keywords | Design | |
| keywords | Equations | |
| keywords | Structural frames AND Tension | |
| tree | Journal of Mechanical Design:;2005:;volume( 127 ):;issue: 004 | |
| contenttype | Fulltext | |