The structure of the cable-driven serial manipulator (CDSM) is more complex than that of the cable-driven parallel manipulator (CDPM), resulting in higher model complexity and stronger structural and parametric uncertainties. These drawbacks challenge the stable trajectory-tracking control of a CDSM. To circumvent these drawbacks, this paper proposes a robust adaptive controller for an n-degree-of-freedom (DOF) CDSM actuated by m cables. First, two high-level controllers are designed to track the joint trajectory under two scenarios, namely known and unknown upper bounds of uncertainties. The controllers include an adaptive feedforward term based on inverse dynamics and a robust control term compensating for the uncertainties. Second, the independence of control gains from the upper bound of uncertainties and the inclusion of the joint viscous friction coefficient into the dynamic parameter vector are realised. Then, a low-level controller is designed for the task of tracking the cable tension trajectory. The system stability is analysed using the Lyapunov method. Finally, the validity and effectiveness of the proposed controllers are verified by experimenting with a three-DOF six-cable CDSM. In addition, a comparative experiment with the classical proportional–integral–derivative (PID) controller is carried out.

中文翻译：

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电缆张力传感器测量的多段电缆全约束电缆驱动串行机械臂的自适应自适应控制

电缆驱动的串行机械手（CDSM）的结构比电缆驱动的并行机械手（CDPM）的结构更复杂，从而导致更高的模型复杂性以及更强的结构和参数不确定性。这些缺点挑战了CDSM的稳定轨迹跟踪控制。为了克服这些缺点，本文提出了一种鲁棒的自适应控制器，用于由m驱动的n自由度（DOF）CDSM。电缆。首先，设计了两个高级控制器来跟踪两种情况下的联合轨迹，即不确定性的已知和未知上限。控制器包括基于逆动力学的自适应前馈项和补偿不确定性的鲁棒控制项。其次，实现了控制增益与不确定性上限之间的独立性，以及将联合粘性摩擦系数包含在动态参数向量中。然后，针对跟踪电缆张力轨迹的任务设计了一个低级控制器。使用Lyapunov方法分析系统稳定性。最后，通过对三自由度六电缆CDSM进行试验，验证了所提出控制器的有效性和有效性。此外，