{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,16]],"date-time":"2026-04-16T08:04:30Z","timestamp":1776326670445,"version":"3.50.1"},"reference-count":49,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2025,11,11]],"date-time":"2025-11-11T00:00:00Z","timestamp":1762819200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003151","name":"Fonds de Recherche du Qu\u00e9bec - Nature et Technologies","doi-asserted-by":"publisher","award":["2020-CO-275043"],"award-info":[{"award-number":["2020-CO-275043"]}],"id":[{"id":"10.13039\/501100003151","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003151","name":"Fonds de Recherche du Qu\u00e9bec - Nature et Technologies","doi-asserted-by":"publisher","award":["2016-PR-188869"],"award-info":[{"award-number":["2016-PR-188869"]}],"id":[{"id":"10.13039\/501100003151","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["RGPIN-2018-0632"],"award-info":[{"award-number":["RGPIN-2018-0632"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper proposes a two-layer adaptive proportional\u2013integral\u2013derivative (PID) controller for precise pose control of a six-degree-of-freedom cable-driven parallel robot with eight cables, specifically designed to handle dynamic changes caused by the movement of attachment points. The positions of the attachment points on the base are adjusted to avoid collisions between humans and cables, where humans and robots are working in a shared workspace. The inherent nonlinearity of the robot system was addressed using model identification based on the recursive least squares (RLS) algorithm equipped with an adaptive forgetting factor. This method enables real-time updates to the dynamic model of the robot, thereby ensuring accurate parameter estimation as the attachment points move. The combination of the PID controller and RLS algorithm enhances the system\u2019s ability to respond effectively to changing dynamics. Simulation results highlight the superior accuracy, robustness, and adaptability of the proposed approach, making it well suited for applications requiring a reliable performance in dynamic and unpredictable environments. The proposed method can guarantee human safety, while the end effector tracks the desired trajectory.<\/jats:p>","DOI":"10.3390\/robotics14110165","type":"journal-article","created":{"date-parts":[[2025,11,11]],"date-time":"2025-11-11T10:56:27Z","timestamp":1762858587000},"page":"165","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Design an Adaptive PID Control Based on RLS with a Variable Forgetting Factor for a Reconfigurable Cable-Driven Parallel Mechanism"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2466-9940","authenticated-orcid":false,"given":"Elham","family":"Khoshbin","sequence":"first","affiliation":[{"name":"Automatic and Interactive Robotic Laboratory, Department of Applied Science, Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi, Chicoutimi, QC G7H 2B1, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8763-0536","authenticated-orcid":false,"given":"Martin J.-D.","family":"Otis","sequence":"additional","affiliation":[{"name":"Automatic and Interactive Robotic Laboratory, Department of Applied Science, Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi, Chicoutimi, QC G7H 2B1, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ramy","family":"Meziane","sequence":"additional","affiliation":[{"name":"Automatic and Interactive Robotic Laboratory, Department of Applied Science, Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi, Chicoutimi, QC G7H 2B1, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,11,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"031009","DOI":"10.1115\/1.4045423","article-title":"Wrench-feasible workspace of mobile cable-driven parallel robots","volume":"12","author":"Rasheed","year":"2020","journal-title":"J. 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