<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1390-6542</journal-id>
<journal-title><![CDATA[Enfoque UTE]]></journal-title>
<abbrev-journal-title><![CDATA[Enfoque UTE]]></abbrev-journal-title>
<issn>1390-6542</issn>
<publisher>
<publisher-name><![CDATA[Universidad UTE]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1390-65422018000400099</article-id>
<article-id pub-id-type="doi">10.29019/enfoqueute.v9n4.403</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[A fuzzy sliding mode for Planar 4-Cable Direct Driven Robot]]></article-title>
<article-title xml:lang="es"><![CDATA[Controlador por modos deslizantes difuso para un robot planar accionado por cuatro cables]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Aguas]]></surname>
<given-names><![CDATA[Xavier]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Cuaycal]]></surname>
<given-names><![CDATA[Andres]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Paredes]]></surname>
<given-names><![CDATA[Israel]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Herrera]]></surname>
<given-names><![CDATA[Marco]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Escuela Politécnica Nacional  ]]></institution>
<addr-line><![CDATA[Quito ]]></addr-line>
<country>Ecuador</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>12</month>
<year>2018</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>12</month>
<year>2018</year>
</pub-date>
<volume>9</volume>
<numero>4</numero>
<fpage>99</fpage>
<lpage>109</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.senescyt.gob.ec/scielo.php?script=sci_arttext&amp;pid=S1390-65422018000400099&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.senescyt.gob.ec/scielo.php?script=sci_abstract&amp;pid=S1390-65422018000400099&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.senescyt.gob.ec/scielo.php?script=sci_pdf&amp;pid=S1390-65422018000400099&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract: Cable Direct Driven Robots (CDDRs) are a special class of parallel robots but they are formed by replacing all the supporting rigid links with cables. Compare with traditional robots, these robots are good candidates for performing a wide range of potential applications. A Planar CDDR model is considered in this paper since no rotational move and no moment resistance are required on the end-effector, all 4 cables convene in a single point and the end-effector is modeled as a point mass. The main goal of this paper is to present a new approach in control by developing a Sliding Mode Controller (SMC) with a Fuzzy-PI as sliding surface using Fuzzy logic toolbox in Matlab/Simulink. The tests performed were Step change reference test and Tracking trajectory test to observe the behavior of the cables during the trajectory and the end-effector movement. Simulation was carried out on Planar 4-Cable CDDR to prove the effectiveness of the proposed control law and the results were compared with a PI Controller and a conventional SMC in terms of integral square error (ISE) index. Only the kinematic model of Planar 4-Cable CDDR is considered in this paper.]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen: Los Robots accionados por cable (CDDR) son una clase especial de robots paralelos, pero se forman al reemplazar todos los enlaces rígidos de soporte por cables. En comparación con los robots tradicionales, estos robots son buenos candidatos para realizar una amplia gama de aplicaciones potenciales. En este documento se considera el modelo de un robot planar accionado por cables porque no se requieren movimientos de rotación, momentos de resistencia y los cables se reúnen en un solo punto conocido como efector final el cual se modela como una masa puntual. El objetivo principal de este documento es presentar un nuevo enfoque en el control mediante el desarrollo de un controlador por modos deslizantes (SMC) con una superficie deslizante difusa tipo PI utilizando Fuzzy logic toolbox en Matlab / Simulink. Las pruebas realizadas fueron: prueba de cambio de referencia y prueba de seguimiento de trayectoria para observar el comportamiento de los cables durante la trayectoria y el movimiento del efector final. La simulación se llevó a cabo en un robot planar accionado por cuatro cables para probar la efectividad de la ley de control propuesta y los resultados se compararon con un controlador PI y un SMC convencional en términos del índice de la integral del error cuadrático (ISE). Solo el modelo cinemático del CDDR de 4 cables planar se considera en este documento.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[cable direct driven robot]]></kwd>
<kwd lng="en"><![CDATA[sliding mode control]]></kwd>
<kwd lng="en"><![CDATA[Fuzzy controller]]></kwd>
<kwd lng="en"><![CDATA[PI controller]]></kwd>
<kwd lng="en"><![CDATA[kinematic.]]></kwd>
<kwd lng="es"><![CDATA[robot accionado por cables]]></kwd>
<kwd lng="es"><![CDATA[control por modos deslizantes]]></kwd>
<kwd lng="es"><![CDATA[controlador difuso]]></kwd>
<kwd lng="es"><![CDATA[controlador PI]]></kwd>
<kwd lng="es"><![CDATA[cinemática.]]></kwd>
</kwd-group>
</article-meta>
</front><back>
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