A Failure Identification and Recovery Framework for a Planar Reconfigurable Cable Driven Parallel Robot

In cable driven parallel robots (CDPRs), a single malfunction usually induces complete failure of the entire robot. However, lost static workspace (due to failure) can often be recovered through reconfiguration attachment points on frame. This capability is introduced by adding kinematic redundancies robot in form moving linear sliders that are manipulated real-time redundancy resolution controller. The presented work combines this controller with an online detection framework develop fault tolerant control scheme for automatic task recovery. solution provides robustness combining pose estimation end-effector application Interactive Multiple Model (IMM) algorithm relying only information. and then tied into approach produce seamless (trajectory) recovery failures.