Sliding Mode Control of Cable-Driven Redundancy Parallel Robot with 6 DOF Based on Cable-Length Sensor Feedback

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/1928673/figures/1928673.fig.006a.svgz" name="1928673.fig.006a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Number of iterations</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/1928673/figures/1928673.fig.006b.svgz" name="1928673.fig.006b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Number of iterations</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/1928673/figures/1928673.fig.006c.svgz" name="1928673.fig.006c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Number of iterations</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/1928673/figures/1928673.fig.006d.svgz" name="1928673.fig.006d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Number of iterations</td></tr></table>

<div>The convergence from initial iterate toward the true solution.</div>

Mathematical Problems in Engineering

fig6

Figure 6

Figure 6: Sliding Mode Control of Cable-Driven Redundancy Parallel Robot with 6 DOF Based on Cable-Length Sensor Feedback 