In this study, we investigated dynamic control strategies for over-constrained cable-driven robots. order to a robot, it is essential address issues that arise from the restriction of cable tension, as well redundancy an system. contrast previous research required consideration relationship between tension constraints and computed wrench in distribution problems, developed function incorporates...

Accuracy improvement is an important research topic in the field of cable-driven parallel robots (CDPRs). One reason for inaccuracies CDPRs are deviations cable lengths. Such can be caused by elongation due to its elasticity or creep behavior. For most common CDPRs, lengths controlled using motor encoders winches, without feedback about actual cables. To address this problem, paper proposes a d...

Cable robots have potential usage for loading and unloading of cargo in shipping industries. A novel sixdegree of freedom two-stage cable robot has been proposed by NIST for skin-to-skin transfer of cargo. In this paper, we look at a planar version of this two-stage cable robot. The disturbance motion from the sea is considered while modeling the dynamics of robot. The problem of robust control...

Performing aerial 6-dimensional manipulation using flying robots is a challenging problem, to which only little work has been devoted. This paper proposes a motion planning approach for the reliable 6-dimensional quasi-static manipulation with an aerial towed-cable system. The novelty of this approach lies in the use of a cost-based motion-planning algorithm together with some results deriving ...

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses for which any wrench can be produced at the end-effector by a set of a non-negative cable tensions. It is already known that the boundary of the constant-orientation wrench-closure workspace of a planar parallel cable-driven mechanism is composed of segments of conic sections. Howevel; the relationship between ...

Magnetic coupling is a strategy to transmit actuation forces across a physical barrier. This approach can be applied to remotely control and manipulate robotic instruments in minimally invasive surgery (MIS) [1]. Interrupting the mechanical continuity of such system by having surgical instruments and laparoscopic camera magnetically coupled across the abdominal wall greatly enhances both the wo...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

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 wrench feasibility and twist are the workspace conditions that indicate whether mobile-platform (MP) of cable-driven parallel robots (CDPRs) can provide a sufficient amount twist. Traditionally, these two quantities evaluated independently from actuator's torque speed limits, which assumed to be fixed in literature, but they are, indeed, coupled. This results conservative usage actuator cap...