Browsing by Author "Sancak, Caner"

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    Forward Kinematics and Control of a Planar Cable Driven Parallel Robot
    (Konya Technical University, 2019) Sancak, Caner; Yamaç, Fatma; İtik, Mehmet
    Inthis study, precise position and orientation control of a planar parallelrobot, driven by four cables, with three degrees of freedom was performed. Thestate variables required for the feedback control of the cable-driven robotwere obtained by solving the forward kinematic equations of the robot. In orderto increase the accuracy of the solution of forward kinematic equations and toreduce the convergence time, a method which is used in combination withArtificial Neural Networks (ANNs) and Newton-Raphson method has been used. Inthis mixed method, an initial forward kinematics solution is obtained by ANNs.This solution is then used as the initial condition in the Newton-Raphsonmethod, providing fast convergence and increased accuracy of the numericalsolution. Furthermore, the hybrid method prevents divergences in theNewton-Raphson method which may be caused by the poorly selected initialconditions. In the simulations, the real-time solutions of the forwardkinematic equations obtained by the hybrid method were used as feedback signalsto the sliding-mode controller designed to control the position and orientationof the robot. The results show that the methods used in combination have beensuccesful in precise control of the pose of cable driven parallel robot.