Robust Adaptive Control Simulation of Wire-Suspended Parallel Manipulator

This paper presents an adaptive control method based on parameter linearization for incompletely restrained wire-suspended mechanisms. The main purpose of this control method is utilizing it in a walking assist service robot for elderly people. This method is computationally simple and requires neither end-effector acceleration feedback nor inversion of estimated inertia matrix. In the proposed adaptive control law, mass, moment of inertia and external force and torque on the end-effector are considered as components of parameter adaptation vector. Nonlinear simulation for walking an elderly shows the effectiveness of the parameter adaptation law.