Figure 10
From: Learning-based cable coupling effect modeling for robotic manipulation of heavy industrial cables
Control structure of the cable model based DRSMC framework. \({{\varvec{q}}}_{d}\) is the given trajectories of desired positions; \({\stackrel{\sim }{{\varvec{q}}}}_{d}, {\dot{\stackrel{\sim }{{\varvec{q}}}}}_{d}, {\ddot{\stackrel{\sim }{{\varvec{q}}}}}_{d}\) are the actual reference trajectories generated using the tracking differentiator; \({{\varvec{q}}}_{a}, {\dot{{\varvec{q}}}}_{a}\) are the joint angles and joint velocities of robot, respectively; \({{\varvec{z}}}_{1}, {{\varvec{z}}}_{2}, {{\varvec{z}}}_{3}\) are the augmented system states generated using the extended state observer25; \({{\varvec{\tau}}}_{c}\) is the feedback control torque; \({{\varvec{\tau}}}_{fw}\) is the feedforward control torque; \({{\varvec{\chi}}}_{0}\) is the measurement states of the cable and \({{\varvec{\chi}}}_{c}\) is the generated cable representation for the cable effect model.
