Dynamic Modeling and Robust Adaptive Sliding Mode Controller for Marine Cable-Driven Parallel Derusting Robot

Ship derusting has the characteristics of a complex operation environment, high labor intensity and low efficiency. In order to better cope with this situation, a new type of cable-driven parallel derusting robot (CDPDR) is proposed in this article. To improve the positioning accuracy and anti-inter...

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Hauptverfasser:	Yizong Chen, Jian Li, Shenghai Wang, Guangdong Han, Yuqing Sun, Weirong Luo
Format:	Artigo
Sprache:	Inglês
Veröffentlicht:	MDPI AG 2022-06-01
Schriftenreihe:	Applied Sciences
Schlagworte:	cable-driven parallel robot derusting robot dynamic model tension optimization workspace sliding mode control
Online-Zugang:	https://www.mdpi.com/2076-3417/12/12/6137
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