On the Control of Planar Cable-driven Parallel Robot Via Classic Controllers and Tuning with Intelligent Algorithms

摘要

This paper presents different classical control approaches for planar cable-driven parallel robots. For the proposed robot, PD and PID controllers are designed based on the concept of pole placement method. In order to optimize and tune the controller parameters of planar cable-driven parallel robot, Differential Evaluation, Particle Swarm Optimization and Genetic algorithms are applied as optimization techniques. The simulation results of Genetic algorithm, Particle Swarm Optimization and Differential Evaluation algorithms reveal that the output results of tunes controllers with Particle Swarm Optimization and Differential Evaluation algorithms are more similar than Genetic algorithm and the processing time of Differential Evaluation is less than Genetic algorithm and Particle Swarm Optimization. Moreover, performance of the Particle Swarm Optimization and Differential Evaluation algorithms are better than Genetic algorithm for tuning the controllers parameters.