|Mohammad Isaac Hosseini|
Design and implementation of a high speed ploter cable-driven robot and its control system
The art of drawing and painting has long been associated with human life. The application and importance of this issue have caused in recent decades to see robots called painter robots in various industrial and non-industrial applications. Therefore, in this thesis, using the structure of cable robots, the design, construction, and control of painting robots are discussed, which not only have low implementation costs but also by having high speed and acceleration can convey the concept of the desired drawing to the audience in a finite time. To achieve this, first, a new cable structure has been proposed for this group of robots that can improve the oscillations and unwanted rotations of the system as much as possible without the need for additional actuators. Also, to free the robot from external sensors, the proposed controllers in the joint space have been designed. Although this significantly reduces implementation costs, if proper controllers are not adopted in this space, due to the challenges mentioned for cables, the optimal tracking, and even system stability will be overshadowed. Therefore, in the continuation of this research, a robust nonlinear controller and a robust adaptive controller have proposed in such a way that they ensure the cables are in tension and the resulting fluctuations are damped. furthermore, thanks to using the time-delay estimation technique in the scheme of proposed controllers, the dynamics model of the robot is not also needed. Also, the stability of the closed-loop system will be analyzed and proven through Lyapunov’s direct method. Finally, the Kamal-ol-Molk painter robot is introduced and built as an example of the proposed structure, and the results of the implementation of the proposed controllers on it show the effciency of these methods in practical applications.
|2020||M.Sc.||Parallel and Cable Robotics|