Trajectory Following Control of a Cable Driven Parallel Robot on Planes With Various Inclined Angles

Abstract This paper explores the control mechanisms for Cable-Driven Parallel Robots (CDPRs) operating on inclined surfaces and addresses the challenges introduced by gravity. It provides a comprehensive analysis aimed at evaluating the effectiveness of various control strategies, including Proportional-Derivative (PD) controllers, gain scheduling, and Active Disturbance Rejection Control (ADRC), across different inclinations. The study explores how these approaches contribute to maintaining operational efficiency and precision in trajectory generation. The effectiveness of the proposed control model in generating trajectories is demonstrated through simulations. These simulations reveal the limitations of PD controllers, gain scheduling for CDPRs on inclined surfaces, and show ADRC as a better alternative. This research significantly improves the efficiency and accuracy of CDPRs in trajectory generation, broadening their practical applications across diverse scenarios.