This study intends to investigate a dynamic modeling and design of controller for a planar serial chain, performing 2-DoF, in interaction with a cable-driven robot. The under study system can be used as a rehabilitation setup which is helpful for those with arm disability. The latter goal can be achieved by applying the positive tensions of the cable-driven robot which are designed based on feedback linearization approach. To this end, the system dynamics formulation is developed using Lagrange approach and then the so-called Wrench-Closure Workspace (WCW) analysis is performed. Moreover, in the feedback linearization approach, the PD and PID controllers are used as auxiliary controllers input and the stability of the system is guaranteed as a whole. From the simulation results it follows that, in the presence of bounded disturbance based on Roots Mean Square Error (RMSE) criteria, the PID controller has better performance and tracking error of the 2-DoF robot joints are improved 15.29% and 24.32%, respectively.

本研究旨在研究平面串行链控制器的动态建模和设计，执行 2-DoF，与电缆驱动机器人交互。正在学习的系统可以用作康复装置，这对手臂残疾的人有帮助。后一个目标可以通过应用基于反馈线性化方法设计的电缆驱动机器人的正张力来实现。为此，使用拉格朗日方法开发系统动力学公式，然后执行所谓的扳手闭合工作空间 (WCW) 分析。此外，在反馈线性化方法中，PD和PID控制器作为辅助控制器输入，从整体上保证了系统的稳定性。从仿真结果可以看出，