A method for simultaneous control of speed and torque of the motors of a cable suspended robot for tracking procedure

In this paper, a new method is proposed for controlling the motors of icasbot(iust cable suspended robot), which is a modied version of crane aiming to objecthandling in industrial environments. in order to provide more accurate tracking, torqueand speed of the motors are controlled simultaneously, using inverse kinematics and inversedynamics of the robot. the equations of the motors are evaluated as a look-up table byconducting some special experimental tests and calibrations, while their data sheets andmotor parameters are not available. the required feedforward signal of the motors areestimated by the aid of inverse dynamics of the robot, while its errors are compensated bythe aid of pid controller on the speed and torque of the motor. as a result, the required(pulse width modulation) pwm of the motor is exerted to produce a desired angularvelocity, while a specic amount of torque is applied on the motors. not only the voltageof the motors is controlled using the mentioned pwm, but also the current is improvedusing the feedback control of the torques. pid gains are optimized using ziegler-nicholsmethod. by the aid of the mentioned combination of feedforward and feedback controllingterms of the motor speed and torque, the desired trajectory is tracked with the highestpossible accuracy. eciency of the proposed method is eventually proved by comparingthe experimental tests with simulation results.