| Summary: | 碩士 === 健行科技大學 === 機械工程所 === 101 === A cable-suspended-robot (CSR) is a special parallel manipulator in which the mobile platform is driven by cables, instead of rigid links. These advantages make the CSR become a promising candidate for applications requiring high speed, and high payload but with moderate stiffness and accuracy. The main goal of this thesis is to propose Proportional-Integral-Differential control and fuzzy control algorithm for CSR. The sensor module on the CSR contains the ultrasound, gyroscope, wireless camera, and the arduino micro-control board. Automatically tilt and balance aimed at the end of the crane or hoist hanging objects, regions with limited work space, the field radar or telescope feed support system, and using a wireless camera as a monitor cable suspended robot to do dynamic situation. This study introduces LabVIEW software platform to design propose Proportional-Integral-Differential controller and fuzzy controller. Two different controller have been adopted for control purposes and use MATLAB software platform plot CSR space analysis. Experimental results also confirm that the proposed CSR can successfully to perform Automatically tilt and balance.
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