In this paper, robust control of a large cable-driven robot is presented (LCDR). In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motions. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this case study, sliding mode control via double integrator sliding surface is pre...

Robots are controlled with a discrete-time controller that includes a highlevel loop for motion control and a faster internal loop that controls the actuators. We intend to simulate the behavior of the whole chain for a cable-driven parallel robot (CDPR) with linear elastic cables and we will show that such a simulation cannot be performed using classical simulation tools. We exhibit a simulati...

This paper presents recent results from the Robotics Systems Laboratory at the Australian National University in the area of Robot Vision. Progress has been made in the design and construction of novel mechanisms for both active and panoramic vision, together with computer systems that facilitate real-time vision processing. The robot vision systems are being used to develop human-friendly robo...

This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired tra...

Abstract Cable-driven hyper-redundant robots have been adopted in many fields for accessing harsh and confined environments that maybe inaccessible or dangerous humans. The cable actuation strategy makes the robot hardware safer increases payload reducing its weight. In this paper, a novel design of fully actuated cable-driven has proposed. This solution is pulleyless decreases mechanical compl...

Accurate, real-time information about the aging status of the power distribution cable network can save the power industry millions of dollars lost due to line failures and premature replacement of cables. Hence, a novel, semiautonomous robotic sensor platform has been developed for monitoring underground, power distribution cable systems. A segmented, legged modular configuration allows the ro...

This paper addresses the topological and dimensional synthesis of cable-driven parallel robots. A combined methodology for type size optimization is proposed applied to a cable driven robot, which intended upper-limb rehabilitation exercises. The approach deals with set deterministic non-deterministic parameters within multi-objective genetic algorithm. study aims select suitable architecture h...

Cable array robots are a class of robotic mechanisms which utilize multiple actuated cables to manipulate objects. This paper discusses the defining characteristics and the important issues relating to this class of robots. One particular type of cable array robot with three cables is presented in detail including kinematic relations and dynamic modeling. The resulting models are used to design...