%0 Journal Article %A A. Khosravi, Mohammad %A Taghirad, Hamid Reza %T Stability Analysis and Robust PID Control of Parallel Cable Robots with Positive Tensions %J Journal of Control %V 6 %N 4 %U http://joc.kntu.ac.ir/article-1-45-en.html %R %D 2013 %K Parallel cable robots, PID control, Internal force, Stability analysis, UUB stability., %X In this paper dynamic analysis and robust PID control of‎‎fully-constrained parallel cable driven manipulators are studied in‎‎detail‎. ‎Since in this class of manipulators‎, ‎cables should remain in‎‎tension for all maneuvers in their workspace‎, ‎feedback control of‎‎such robots becomes more challenging than ‎that of ‎conventional parallel‎‎robots and research on this topic especially on robust stability analysis is limited‎. In this paper, structured and unstructured uncertainties are considered in the dynamic model and Jacobian of the robot, and a robust PID controller is proposed for the cable driven parallel robot. To ensure that all the cables are in‎‎tension‎, ‎a corrective term is used in the‎‎proposed PID controlbased on the internal force concept. Then, robust stability of the closed-loop system is analysed through Lyapunov’s second method and it is shown that by suitable selection of the controller gains, the closed-loop system would be robustly stable. ‎‎Finally‎, ‎the effectiveness of the‎‎proposed PID algorithm is examined through experiments on a planar‎‎cable driven robot and it is shown that the proposed control‎‎structure is able to provide suitable performance in practice‎. %> http://joc.kntu.ac.ir/article-1-45-en.pdf %P 23-33 %& 23 %! %9 Research paper %L A-10-66-1 %+ Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology %G eng %@ 2008-8345 %[ 2013