In this paper, we develop a finite element model for a cable suspended in water. Global existence and uniqueness of solutions of the truncated system is shown for a slightly simplified equation describing the motion of a cable having negligible added mass and supported by fixed end-points. Based on this, along with well known results on local existence and uniqueness of solutions for symmetriza...

Now robot assisted laparoscopy has some problem to depend only on image of the surgical field. However, there is a research result which shows that it is possible to measure the operation force on commercialized instrument inside patient without sensors [1]. By using measured information, haptic technique can be implemented into surgical robot system. Therefore, this paper proposes the design o...

Known for their lower costs and numerous applications, cable robots are an attractive research field in robotic community. However, considering the fact that they require an accurate installation procedure and calibration routine, they have not yet found their true place in real-world applications. This paper aims to propose a new controller strategy that requires no meticulous calibration and ...

Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has been proposed, and a velocity controlled DC motor has been used as its power source. Based on this, the model of the cable-driven SEA has been built up. Fur...

The paper presents a new method of sliding mode control for cable suspended load with acceleration constraint. The method employs a time-varying switching line which moves with a decreasing velocity and a constant angle of inclination to the origin of the error state space. Then, it stops moving and it remains fixed. Since at the initial time the line consists of these points in the error state...

Abstract This paper proposes a novel control scheme for precise path tracking in cable driven parallel robots (CDPRs) with axially-flexible cables, particular focus to the challenging case of suspended (CSPRs). To handle model nonlinearities while ensuring small computational effort, controller made by two sequential actions is developed. The first term position-dependent, predictive (MPC) embe...

The following problem appears in robotics. A number of small, circular robots live in a common planar workspace. Each is attached by a exible cable of nite length to a point on the boundary of this workspace. Each robot has a target point in the workspace it must reach. When a robot has reached its target, its cable will have been dragged out into the workspace and possibly pushed and bent by o...

This work presents the status of running project (2007–2010). The new nine degrees of freedom cable driven robot has been developed. Main parts: the mechanical design of parallel manipulator and the heart of control system have been presented. The preliminary tests of the prototype application have been performed. As the final result of the project, a robotic cable driven crane will be develope...

A tensegrity is finite configuration of points in Ed suspended rigidly by inextendable cables and incompressable struts. Here it is explained how a stress-energy function, given by a symmetric stress matrix, can be used to create tensegrities that are globally rigid in the sense that the only configurations that satisfy the cable and strut constraints are congruent copies.