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Numerous motion control methods for the cable-driven manipulator exist, including fuzzy PID control, adaptive control, and PID control. However, challenges include managing complicated parameters and attaining optimal control in systems with multiple inputs and outputs. Using a 7-DOF cable-driven manipulator as an example, we will analyze the overall structure of the manipulator and provide the forward and inverse kinematic models of its three spaces: operation space, joint space, and cable-driven space. In contrast to the PID motion control method, a sophisticated control method called Model Predictive Control (MPC) is introduced to meet the more complex robotic arm motion control needs. The correctness of the algorithm is verified in Matlab using a spatial arc as the desired trajectory.

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A Motion Control Method of Cable-Driven Manipulators Based on Model Predictive Control

  • 会议论文

  • 发表日期：

    2025年

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  • Tingyan Wen,
  • Yihao Wu,
  • Haotian Yang,
  • Junbo Tan,
  • Xueqian Wang

摘要

Numerous motion control methods for the cable-driven manipulator exist, including fuzzy PID control, adaptive control, and PID control. However, challenges include managing complicated parameters and attaining optimal control in systems with multiple inputs and outputs. Using a 7-DOF cable-driven manipulator as an example, we will analyze the overall structure of the manipulator and provide the forward and inverse kinematic models of its three spaces: operation space, joint space, and cable-driven space. In contrast to the PID motion control method, a sophisticated control method called Model Predictive Control (MPC) is introduced to meet the more complex robotic arm motion control needs. The correctness of the algorithm is verified in Matlab using a spatial arc as the desired trajectory.