Design and Simulation of Graphical User interface for Cables Parallel Robot
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Date
2020-03-01
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Publisher
ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Vol. 5, Issue 1.pp 66-72
Abstract
In this paper, we have presented the 3D cables parallel robot in pyramid’s form. The dynamic
equation has been established including the dynamic behavior, in this context; we investigated to use the
Runge Kutta method of 4th order to solving non-linear partial differential equation of our system. The main
contribution of this work is firstly: a graphical user interface (GUI) has been developed and implemented
based on the geometric model, in order to visualizing the position of end effect or, taking account model
uncertainties and payload variation. Secondly, we have studied and solved our system’s dynamical equation
with implementation the PD control. This last, applied for different trajectories so as to test the accurate
tracking the desired trajectory simulation using MATLAB software. As a result, the simulation tests on this
robot verify the efficiency performance of the proposed controller.