TY - JOUR T1 - Practical Performance Comparison of Pole placement and Sliding Mode Controller for Position Control of Cable-driven Parallel Robots Using Visual Servoing TT - مقایسه بازده عملی کنترلرهای جانمایی‎قطب و مودلغزشی برای کنترل موقعیت ربات‌ موازی کابلی صفحه‌ای با پردازش تصویر JF - mdrsjrns JO - mdrsjrns VL - 15 IS - 12 UR - http://mme.modares.ac.ir/article-15-1366-en.html Y1 - 2016 SP - 63 EP - 74 KW - Cable-driven parallel robots KW - Kinematic KW - Visual servoing KW - Control N2 - This paper presents implementation of position control for planar cable-driven parallel robots using Visual servoing. The main contribution of this paper contains three objectives. First, a method is used toward kinematic modeling of the robot using four-bar linkage kinematic concept, which could be used in online control approaches for real-time purposes due to decreasing of the unknown parameters and computation time. In order to track the position of End-Effector, an online image processing procedure is developed and implemented. Finally, as the third contribution, two different controllers in classic and modern approaches are applied in order to validate the model with plant and obtain the most promising controller. As classic controller, pole placement approach is suggested and results demonstrate weaknesses in modeling the uncertainties although they represent acceptable performance. Due to the latter incapability, sliding mode controller is utilized and experimental tests represent effectiveness of this method. Result of the latter procedure is an inimitable operation on the desired task however, it suffers from chattering effect. Moreover, results of these controllers confirm accommodation between the model and robot. The whole procedure imposed, could be applied for any kind of cable-driven parallel robot. M3 ER -