Fuzzy adaptive impedance control for the two-layered vertical cable-driven parallel robot

Abstract

This study unveils a novel two-layered vertical octahedron cable-driven parallel robot (TLVO CDPR), distinctively engineered for effective force interactions with vertical surfaces while preventing collision with cables. It pioneers an innovative control strategy integrating a position-based fuzzy adaptive impedance controller with a fuzzy Proportional – Integral – Derivative (PID) controller, adeptly managing both the pose and contact force of the robot. While dual control application is often found in rigid-link robots, it remains a largely unexplored frontier in the realm of CDPRs, despite its critical importance in sectors like manufacturing and assembly. The fuzzy adaptive mechanism significantly boosts impedance control efficacy in the face of unpredictable, non-uniform working surfaces, ensuring algorithmic stability and convergence. Concurrently, fuzzy logic is harnessed to optimize PID controller performance. The forward kinematics challenge is efficiently tackled using a least squares method coupled with an Inertial Measurement Unit (IMU), ensuring swift and precise solutions. The robustness and adaptability of the robot and its control systems are thoroughly validated through extensive experimental trials, involving diverse trajectories and varying uncertainties on vertical working surfaces.